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#ifndef AIRDOG_H
#define AIRDOG_H
#include <nuttx/config.h>
#include <nuttx/sched.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airdog_status.h>
#include <uORB/topics/airdog_path_log.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_rgbled.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_hrt.h>
#include <commander/px4_custom_mode.h>
#include <commander/commander_helper.h>
#include <board_config.h>
#include <mavlink/mavlink_log.h>
#include "paramhandler.h"
#include "button_controller.h"
#include "i2c_controller.h"
#include "i2c_display_controller.h"
#include "menu_controller.h"
#include "common.h"
#define LISTENER_ADDR 0x20 /**< I2C adress of our button i2c controller */
#define DISPLAY_ADDR 0x38 /**< I2C adress of our display i2c controller */
class cAirdog
{
public:
cAirdog();
~cAirdog();
void start();
void cycle();
struct work_s work;
bool button_pressed_i2c(uint8_t button, hrt_abstime time);
bool button_clicked_i2c(uint8_t button, bool long_press);
private:
enum MAV_MODE_FLAG {
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
MAV_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
MAV_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
MAV_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
MAV_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
MAV_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
};
void send_set_mode(uint8_t base_mode, enum PX4_CUSTOM_MAIN_MODE custom_main_mode);
// void send_set_state(enum NAV_STATE state, enum AUTO_MOVE_DIRECTION direction);
// void send_set_move(enum AUTO_MOVE_DIRECTION direction);
void send_save_params();
void send_set_parameter_cmd(char *param_name, int int_val, bool should_save);
void send_get_parameter_value_cmd(char *param_name);
void send_record_path_cmd(bool start);
void set_land_mode();
void display_drone_state();
void load_param(int menu_param);
void set_param_if_updated();
void handle_takeoff();
void display_discharged_mah();
bool running;
uint8_t base_mode;
int airdog_status_sub;
int vehicle_status_sub;
orb_advert_t cmd_pub;
orb_advert_t cmd_log_start;
int buzzer;
I2C_CONTROLLER *pi2c_ctrl;
I2C_DISPLAY_CONTROLLER *pi2c_disp_ctrl;
MENU_CONTROLLER *pmenu_ctrl;
cParamHandler *pparam_handler;
cButtonController *pbutton_ctrl;
int mavlink_fd;
bool hil;
bool armed;
bool drone_active;
bool log_running;
struct airdog_status_s airdog_status;
struct vehicle_status_s vehicle_status;
uint64_t last_drone_timestamp;
uint64_t takeoff_request_time;
bool takeoff_requested;
param_t param_bat_warn;
param_t param_bat_failsafe;
param_t param_trainer_id;
float bat_warning_level;
float bat_critical_level;
bool rtl_triggered_from_battery;
int32_t trainer_remote_id;
bool pitch_down;
int battery_warning_count;
};
#endif // AIRDOG_H
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