// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/12/19
//  filename:   ParrotBldc_impl.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Classe integrant les moteurs ardrone
//
//
/*********************************************************************/


#ifndef PARROTBLDC_IMPL_H
#define PARROTBLDC_IMPL_H

#include <IODevice.h>
#include <stdint.h>

namespace flair {
    namespace core {
        class SerialPort;
    }
    namespace actuator {
        class ParrotBldc;
    }
}

class ParrotBldc_impl {

    public:
        ParrotBldc_impl(flair::actuator::ParrotBldc* self,flair::core::SerialPort* serialport);
        ~ParrotBldc_impl();
        void UpdateFrom(flair::core::io_data *data);
        void SetMotors(float* value);

    private:
        typedef struct GpioData_t {
            int gpio;
            int value;
        } GpioData_t;

        enum class GpioMode_t {
            GpioInput = 0, // Pin configured for input
            GpioOutputLow, // Pin configured for output with low level
            GpioOutputHigh, // Pin configured for output with high level
        };

        typedef struct GpioDirection_t {
            int gpio;
            GpioMode_t mode;
        } GpioDirection_t;

        void StartTest(void);
        void StopTest(void);
        void ResetBldc(void);
        void SetGPIODirection(int gpio,GpioMode_t mode);
        void SetGPIOValue(int gpio,bool value);
        int WriteCmd(uint8_t cmd, uint8_t *reply, int replylen);
        void SetLeds(uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3);

        flair::actuator::ParrotBldc* self;
        flair::core::SerialPort* serialport;
        bool is_reseted;
        int fd;
};

#endif // PARROTBLDC_IMPL_H