/* CommunicationManager.h -- Communication Manager class for XBee:
			     Handles all communications with other ROS nodes
			     and the serial port --     	                             */
/* ------------------------------------------------------------------------- */
/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved.      */
/*                                  (aymen.soussia@gmail.com)                */


#pragma once

#include <inttypes.h>
#include<thread>
#include <std_msgs/UInt8.h>
#include<mavros_msgs/CommandCode.h>
#include<mavros_msgs/CommandInt.h>
#include<mavros_msgs/Mavlink.h>
#include <ros/ros.h>
#include <mavros_msgs/ParamGet.h>
#include <mavros_msgs/ParamValue.h>
#include"PacketsHandler.h"
#include"SerialDevice.h"


namespace Mist
{


namespace Xbee
{


//*****************************************************************************
struct Waypoint_S
{
	unsigned int latitude;
	unsigned int longitude;
	double altitude;
	unsigned int staytime;
	unsigned int heading;
};


//*****************************************************************************
class CommunicationManager
{
public:
	CommunicationManager();
	~CommunicationManager();

	enum class DRONE_TYPE {MASTER, SLAVE};
	enum class RUNNING_MODE {SWARM, SOLO};

	bool Init(const std::string& device, const std::size_t baud_rate);
	void Run(DRONE_TYPE drone_type, RUNNING_MODE running_mode);

private:

	const unsigned char START_DLIMITER;
	const std::size_t LOOP_RATE;

	void Run_In_Solo_Mode(DRONE_TYPE drone_type);
	void Run_In_Swarm_Mode();
	/*void Generate_Transmit_Request_Frame(
			const char* const message,
			std::string* frame,
			const unsigned char frame_ID = 
			static_cast<unsigned char>(0x01),
			const std::string& destination_adssress = "000000000000FFFF",
			const std::string& short_destination_adress = "FFFF",
			const std::string& broadcast_radius = "00",
			const std::string& options = "00");*/
	//void Check_In_Messages_and_Transfer_To_Topics();
	void Display_Init_Communication_Failure();
	//void Convert_HEX_To_Bytes(const std::string& HEX_data,
			//std::string* converted_data);
	//void Calculate_and_Append_Checksum(std::string* frame);
	//void Add_Length_and_Start_Delimiter(std::string* frame);
	void Send_Mavlink_Message_Callback(
			const mavros_msgs::Mavlink::ConstPtr& mavlink_msg);
	void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type,
			RUNNING_MODE running_mode);
	bool Serve_Flight_Controller(mavros_msgs::CommandInt::
		Request& request, mavros_msgs::CommandInt::Response& response);
	void Check_In_Messages_and_Transfer_To_Server();
	void Process_In_Standard_Messages();
	void Process_In_Acks_and_Pings();
	void Process_In_Fragments();
	void Process_In_Packets();
	void Process_Command_Responses();
	bool Get_Param(mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res);

	Mist::Xbee::SerialDevice serial_device_;
	Mist::Xbee::PacketsHandler packets_handler_;
	Thread_Safe_Deque in_std_messages_;
	Thread_Safe_Deque in_fragments_;
	Thread_Safe_Deque in_Acks_and_Pings_;
	Thread_Safe_Deque command_responses_;
	Thread_Safe_Deque in_packets_;
	ros::NodeHandle node_handle_;
	ros::Subscriber mavlink_subscriber_;	
	ros::Publisher mavlink_publisher_;
	ros::ServiceClient mav_dji_client_;
	ros::ServiceServer mav_dji_server_;
	ros::ServiceServer StatusSrv_;
	std_msgs::UInt8 device_id_out;
	std::shared_ptr<std::thread> service_thread_; // TO DO delete !?
};


}


}