/**
 ******************************************************************************
 *
 * @file       uavobject.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   
 * @{
 * 
 *****************************************************************************/
/* 
 * 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 UAVOBJECT_H
#define UAVOBJECT_H

#include <QtGlobal>
#include <QObject>
#include <QMutex>
#include <QMutexLocker>
#include <QString>

class UAVObject: public QObject
{
    Q_OBJECT

public:

    /**
     * Object update mode
     */
    typedef enum {
            UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
            UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
            UPDATEMODE_MANUAL,  /** Manually update object, by calling the updated() function */
            UPDATEMODE_NEVER /** Object is never updated */
    } UpdateMode;

    /**
     * Object metadata, each object has a meta object that holds its metadata. The metadata define
     * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
     */
    typedef struct {
            quint8 ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
            UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot */
            qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
            UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS */
            qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
            UpdateMode loggingUpdateMode; /** Update mode used by the logging module */
            qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
    } Metadata;


    UAVObject(quint32 objID, quint32 instID, bool isSingleInst, QString& name, quint32 numBytes);
    quint32 getObjID();
    quint32 getInstID();
    bool isSingleInstance();
    QString getName();
    quint32 getNumBytes(); 
    virtual qint32 pack(quint8* dataOut) = 0;
    virtual qint32 unpack(const quint8* dataIn) = 0;
    virtual void setMetadata(const Metadata& mdata) = 0;
    virtual Metadata getMetadata() = 0;
    void requestUpdate();
    void updated();
    void lock();
    void lock(int timeoutMs);
    void unlock();
    QMutex* getMutex();

signals:
    void objectUpdated(UAVObject* obj, bool unpacked);
    void updateRequested(UAVObject* obj);

protected:
    quint32 objID;
    quint32 instID;
    bool isSingleInst;
    QString name;
    quint32 numBytes;
    QMutex* mutex;

};

#endif // UAVOBJECT_H