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/**
 * @file mavlink_parameters.h
 * Mavlink parameters manager definition.
 *
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Lorenz Meier <lorenz@px4.io>
 */

#pragma once

#include <systemlib/param/param.h>

#include "mavlink_bridge_header.h"
#include <uORB/uORB.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <drivers/drv_hrt.h>

class Mavlink;

class MavlinkParametersManager
{
public:
	explicit MavlinkParametersManager(Mavlink *mavlink);
	~MavlinkParametersManager();

	/**
	 * Handle sending of messages. Call this regularly at a fixed frequency.
	 * @param t current time
	 */
	void send(const hrt_abstime t);

	unsigned get_size();

	void handle_message(const mavlink_message_t *msg);

private:
	int		_send_all_index;

	/* do not allow top copying this class */
	MavlinkParametersManager(MavlinkParametersManager &);
	MavlinkParametersManager &operator = (const MavlinkParametersManager &);

protected:
	/// send a single param if a PARAM_REQUEST_LIST is in progress
	/// @return true if a parameter was sent
	bool send_one();

	int send_param(param_t param, int component_id = -1);

	// Item of a single-linked list to store requested uavcan parameters
	struct _uavcan_open_request_list_item {
		uavcan_parameter_request_s req;
		struct _uavcan_open_request_list_item *next;
	};

	// Request the next uavcan parameter
	void request_next_uavcan_parameter();
	// Enque one uavcan parameter reqest. We store 10 at max.
	void enque_uavcan_request(uavcan_parameter_request_s *req);
	// Drop the first reqest from the list
	void dequeue_uavcan_request();

	_uavcan_open_request_list_item *_uavcan_open_request_list; // Pointer to the first item in the linked list
	bool _uavcan_waiting_for_request_response; // We have reqested a parameter and wait for the response
	uint16_t _uavcan_queued_request_items;	// Number of stored parameter requests currently in the list

	orb_advert_t _rc_param_map_pub;
	struct rc_parameter_map_s _rc_param_map;

	orb_advert_t _uavcan_parameter_request_pub;
	int _uavcan_parameter_value_sub;

	Mavlink *_mavlink;
};