// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2016/07/05
//  filename:   Mavlink.h
//
//  authors:    Thomas Fuhrmann
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Mavlink controller in client side.
//
//
/*********************************************************************/

#ifndef MAVLINK_TEST_H
#define MAVLINK_TEST_H

#include <stdint.h>
#include <Thread.h>

namespace flair {
namespace core {
  class FrameworkManager;
  class Socket;
}
namespace gui {
  class SpinBox;
  class Label;
  class CheckBox;
  class Tab;
  class TabWidget;
  class DoubleSpinBox;
  class PushButton;
  class Label;
  class ComboBox;
  class GroupBox;
  class ListWidget;
}
}

namespace flair {
namespace sensor {

class Mavlink : public core::Thread {
public:

  Mavlink(const core::FrameworkManager *parent, std::string name,
             std::string receiverAddress, int receiverPort);
  ~Mavlink();

private:
  gui::SpinBox *deadZone;
  gui::CheckBox *enabled;
  gui::Label *batteryChargeLevel;
  core::Time now;
  gui::TabWidget *tabWidget;
  gui::Tab *tab;
  gui::Tab *settingsTab;
  
  // Controls groupbox
  gui::GroupBox* controlsGroupBox;
  gui::PushButton* btn_initialize;
  gui::PushButton* btn_start_mission;
  gui::PushButton* btn_stop_mission;
  gui::PushButton* btn_kill;
  
  // Add wpt groupbox
  gui::GroupBox* add_wptGroupBox;
  gui::DoubleSpinBox* latField;
  gui::DoubleSpinBox* lonField;
  gui::PushButton* btn_add_mission_wpt;
  gui::PushButton* btn_add_entrance_wpt;
  gui::PushButton* btn_add_exit_wpt;

  // Show wpt groupbox
  gui::GroupBox* show_wptGroupBox;
  gui::ListWidget* list_mission_wpt;
  gui::ListWidget* list_entrance_wpt;
  gui::ListWidget* list_exit_wpt;
  gui::PushButton* btn_remove_mission_wpt;
  gui::PushButton* btn_remove_entrance_wpt;
  gui::PushButton* btn_remove_exit_wpt;  

  // Action wpt groupbox
  gui::GroupBox* action_wptGroupBox;
  gui::PushButton* btn_send_wpt;
  gui::PushButton* btn_clear_wpt;
  gui::PushButton* btn_loop;

  core::Socket* mavlinkSocket;
  core::Socket* recvSocket;

  // reimplement the run of the Thread class
  void Run();

  std::string GetWptLatLon();
  
  // First tab callbacks
  void MissionInitialize();
  void MissionStart();
  void MissionStop();
  void MissionKill();
  
  // Second tab callbacks
  void MissionWptAdd();
  void EntranceWptAdd();
  void ExitWptAdd();
  void WptSend();
  void WptClear();
  void WptLoopSend();

  void SendWptMessage(gui::DoubleSpinBox* latField, gui::DoubleSpinBox* lonField);
  void SendHeartbeat();

  void SendAllWptMessage();

  void DecodeWptMessage(std::string wpt_to_decode);

  std::string U8toString(const uint8_t* chars, const uint16_t chars_size);
};

}
}

#endif // MAVLINK_H