/**
 ******************************************************************************
 * @addtogroup OpenPilotSystem OpenPilot System
 * @{
 * @addtogroup OpenPilotLibraries OpenPilot System Libraries
 * @{
 * @file       uavtalk.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Private include file of the UAVTalk library
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef UAVTALK_PRIV_H
#define UAVTALK_PRIV_H

#include "uavobjectsinit.h"

// Private types and constants
typedef struct {
    uint8_t  sync;
    uint8_t  type;
    uint16_t size;
    uint32_t objId;
} uavtalk_min_header;
#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)

typedef struct {
    uint8_t  sync;
    uint8_t  type;
    uint16_t size;
    uint32_t objId;
    uint16_t instId;
    uint16_t timestamp;
} uavtalk_max_header;
#define UAVTALK_MAX_HEADER_LENGTH  sizeof(uavtalk_max_header)

typedef uint8_t uavtalk_checksum;
#define UAVTALK_CHECKSUM_LENGTH    sizeof(uavtalk_checksum)
#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
#define UAVTALK_MIN_PACKET_LENGTH  UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
#define UAVTALK_MAX_PACKET_LENGTH  UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH

typedef struct {
    UAVObjHandle obj;
    uint8_t type;
    uint16_t     packet_size;
    uint32_t     objId;
    uint16_t     instId;
    uint32_t     length;
    uint8_t  instanceLength;
    uint8_t  timestampLength;
    uint8_t  cs;
    uint16_t timestamp;
    uint32_t rxCount;
    UAVTalkRxState state;
    uint16_t rxPacketLength;
} UAVTalkInputProcessor;

typedef struct {
    uint8_t canari;
    UAVTalkOutputStream outStream;
    xSemaphoreHandle    lock;
    xSemaphoreHandle    transLock;
    xSemaphoreHandle    respSema;
    UAVObjHandle respObj;
    uint16_t     respInstId;
    UAVTalkStats stats;
    UAVTalkInputProcessor iproc;
    uint8_t      *rxBuffer;
    uint32_t     txSize;
    uint8_t      *txBuffer;
} UAVTalkConnectionData;

#define UAVTALK_CANARI          0xCA
#define UAVTALK_WAITFOREVER     -1
#define UAVTALK_NOWAIT          0
#define UAVTALK_SYNC_VAL        0x3C
#define UAVTALK_TYPE_MASK       0x78
#define UAVTALK_TYPE_VER        0x20
#define UAVTALK_TIMESTAMPED     0x80
#define UAVTALK_TYPE_OBJ        (UAVTALK_TYPE_VER | 0x00)
#define UAVTALK_TYPE_OBJ_REQ    (UAVTALK_TYPE_VER | 0x01)
#define UAVTALK_TYPE_OBJ_ACK    (UAVTALK_TYPE_VER | 0x02)
#define UAVTALK_TYPE_ACK        (UAVTALK_TYPE_VER | 0x03)
#define UAVTALK_TYPE_NACK       (UAVTALK_TYPE_VER | 0x04)
#define UAVTALK_TYPE_OBJ_TS     (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)
#define UAVTALK_TYPE_OBJ_ACK_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ_ACK)

// macros
#define CHECKCONHANDLE(handle, variable, failcommand) \
    variable = (UAVTalkConnectionData *)handle; \
    if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
        failcommand; \
    }

#endif // UAVTALK__PRIV_H
/**
 * @}
 * @}
 */