/****************************************************************************
 *
 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file mavlink_orb_listener.h
 * MAVLink 1.0 protocol interface definition.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 */

#include <systemlib/perf_counter.h>
#include <pthread.h>

#pragma once

#include <drivers/drv_rc_input.h>

#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/mission.h>

#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"

class Mavlink;
class MavlinkStream;

class MavlinkOrbListener
{
public:
	/**
	 * Constructor
	 */
	MavlinkOrbListener(Mavlink* parent);

	/**
	 * Destructor, closes all subscriptions.
	 */
	~MavlinkOrbListener();

	static pthread_t uorb_receive_start(Mavlink *mavlink);

	MavlinkOrbSubscription *add_subscription(const struct orb_metadata *meta, size_t size, const MavlinkStream *stream, const unsigned int interval);
	void add_stream(void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval);
	static void * uorb_start_helper(void *context);

private:

	perf_counter_t	_loop_perf;			/**< loop performance counter */

	Mavlink*	_mavlink;

	MavlinkOrbSubscription *_subscriptions;
	static const unsigned _max_subscriptions = 32;
	MavlinkStream *_streams;

	void *uorb_receive_thread(void *arg);

	static void msg_heartbeat(const MavlinkStream *stream);

//	static void		l_sensor_combined(const struct listener *l);
//	static void		l_vehicle_attitude(const struct listener *l);
//	static void		l_vehicle_gps_position(const struct listener *l);
//	static void		l_vehicle_status(const struct listener *l);
//	static void		l_rc_channels(const struct listener *l);
//	static void		l_input_rc(const struct listener *l);
//	static void		l_global_position(const struct listener *l);
//	static void		l_local_position(const struct listener *l);
//	static void		l_global_position_setpoint(const struct listener *l);
//	static void		l_local_position_setpoint(const struct listener *l);
//	static void		l_attitude_setpoint(const struct listener *l);
//	static void		l_actuator_outputs(const struct listener *l);
//	static void		l_actuator_armed(const struct listener *l);
//	static void		l_manual_control_setpoint(const struct listener *l);
//	static void		l_vehicle_attitude_controls(const struct listener *l);
//	static void		l_debug_key_value(const struct listener *l);
//	static void		l_optical_flow(const struct listener *l);
//	static void		l_vehicle_rates_setpoint(const struct listener *l);
//	static void		l_home(const struct listener *l);
//	static void		l_airspeed(const struct listener *l);
//	static void		l_nav_cap(const struct listener *l);

};