ardupilot/libraries/APO/AP_CommLink.h

/*
 * AP_CommLink.h
 * Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
 *
 * This file 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 file 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, see <http://www.gnu.org/licenses/>.
 */

#ifndef AP_CommLink_H
#define AP_CommLink_H

#include <inttypes.h>
#include "../AP_Common/AP_Common.h"
#include "../AP_Common/AP_Vector.h"
#include "AP_MavlinkCommand.h"

class FastSerial;

namespace apo {

class AP_Controller;
class AP_Navigator;
class AP_Guide;
class AP_HardwareAbstractionLayer;

enum {
	SEVERITY_LOW, SEVERITY_MED, SEVERITY_HIGH
};

// forward declarations
//class ArduPilotOne;
//class AP_Controller;

/// CommLink class
class AP_CommLink {
public:

	AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
			AP_Controller * controller, AP_HardwareAbstractionLayer * hal);
	virtual void send() = 0;
	virtual void receive() = 0;
	virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
	virtual void sendText(uint8_t severity, const char *str) = 0;
	virtual void sendText(uint8_t severity, const prog_char_t *str) = 0;
	virtual void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) = 0;
	virtual void sendParameters() = 0;
	virtual void requestCmds() = 0;

protected:
	FastSerial * _link;
	AP_Navigator * _navigator;
	AP_Guide * _guide;
	AP_Controller * _controller;
	AP_HardwareAbstractionLayer * _hal;
};

class MavlinkComm: public AP_CommLink {
public:
	MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
			AP_Controller * controller, AP_HardwareAbstractionLayer * hal);

	virtual void send();
	void sendMessage(uint8_t id, uint32_t param = 0);
	virtual void receive();
	void sendText(uint8_t severity, const char *str);
	void sendText(uint8_t severity, const prog_char_t *str);
	void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);

	/**
	 * sends parameters one at a time
	 */
	void sendParameters();

	/**
	 * request commands one at a time
	 */
	void requestCmds();

private:

	// options
	bool _useRelativeAlt;

	// commands
	bool _sendingCmds;
	bool _receivingCmds;
	uint16_t _cmdTimeLastSent;
	uint16_t _cmdTimeLastReceived;
	uint16_t _cmdDestSysId;
	uint16_t _cmdDestCompId;
	uint16_t _cmdRequestIndex;
	uint16_t _cmdNumberRequested;
	uint16_t _cmdMax;
	Vector<mavlink_command_t *> _cmdList;

	// parameters
	static uint8_t _paramNameLengthMax;
	uint16_t _parameterCount;
	AP_Var * _queuedParameter;
	uint16_t _queuedParameterIndex;

	// channel
	mavlink_channel_t _channel;
	uint16_t _packetDrops;
	static uint8_t _nChannels;

	void _handleMessage(mavlink_message_t * msg);

	uint16_t _countParameters();

	AP_Var * _findParameter(uint16_t index);

	// check the target
	uint8_t _checkTarget(uint8_t sysid, uint8_t compid);

};

} // namespace apo

#endif // AP_CommLink_H
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