net.h

/**
 * net.h
 */

#include "main.h"

#define DATALINK_SEND_FREQUENCY 0.2 //Time in seconds
#define BLOCKING_MODE 0

#define OUTBOUND_QUEUE_SIZE 20
#define INBOUND_QUEUE_SIZE 100
#define MAX_PACKET_SIZE 20

#define EDIT_NONE 0
#define EDIT_PITCH_GAIN 1
#define EDIT_ROLL_GAIN 2
#define EDIT_YAW_GAIN 3

#define API_HEADER_LENGTH 17
#define API_HEADER_PREFIX 3

#define RECEIVER_ADDRESS 0x0013A20040B47E6B

#define INCREMENT_DATA_FRAME 0x00
#define OPTION_BYTE 0x01 //Disables ACK

//FRAME TYPE
#define TX_PACKET 0x10

#define BROADCAST_RADIUS 1 //0 is infinite number of hops to reach target

#define RAW_PACKET_BUFFER_SIZE 16   // Number of buffer regions to allow for incoming commands

#define HEARTBEAT_TIMEOUT 10000 //In Milliseconds

#define GPS_TIMEOUT 30000 //In Milliseconds

#define HEARTBEAT_KILL_TIMEOUT 120000 //In Milliseconds

struct telem_block {
    long double lat, lon; // Latitude and longitude from gps    // 8Byte
    float millis;        // Timestamp UTC  // 4Byte
    float groundSpeed;
    int heading;
    int lastCommandSent;
    unsigned int errorCodes;
    char gpsStatus;                              // 1Byte
    char steeringSetpoint;
    char throttleSetpoint;
    char steeringOutput;
    char throttleOutput;
    // TODO: Add additional telemetry to be sent here
};

struct telem_buffer {
    unsigned int sendIndex;             // index into telemetry to send 
    unsigned char header[API_HEADER_LENGTH];    // The header for the telem
    union {
        struct telem_block *asStruct;   // The telemetry block being sent
        unsigned char *asArray;         // The telemetry intepreted as an array
    } telemetry;
    unsigned char checksum;             // The checksum so far
};

struct command {
    unsigned char cmd;
    unsigned char data_length;
    unsigned char data[101];
};

// Initialize the data link
int initDataLink(void);

// Create a telemetry block to use for debugging, only creates one instance
struct telem_block *getDebugTelemetryBlock(void);

// Create a telem block returns null if fails
struct telem_block *createTelemetryBlock(void);
// Destroy a dataBlock
void destroyTelemetryBlock(struct telem_block *data);

// Add a telem_block to the outbound data queue
// Returns the position in the queue or -1 if no room in queue
int pushOutboundTelemetryQueue(struct telem_block *data);
// Get the number of items waiting to be sent
int getOutboundQueueLength(void);
// Clear all telem blocks waiting to be sent
int clearOutboundTelemetryQueue(void);

// Pop next telem_block from incoming buffer, null if no data
struct telem_block *popOutboundTelemetryQueue(void);

// generate the header for the a telemetry block
unsigned int generateApiHeader(unsigned char *apiString, char dataFrame);

// Stage the given telemetry block
void stageTelemetryBlock(struct telem_block *telem);
// Do outbound buffer maintenance
void outboundBufferMaintenance(void);

// Send a block of telemetry immediately, probably shouldn't call this directly
int sendTelemetryBlock(struct telem_block *telem);

/****************************************************************************
 * Inbound relevant functions
 */

// Clean up the command
void destroyCommand( struct command* cmd );

// Get the next command
struct command* popCommand();

// Queue up another command
int pushCommand(struct command* cmd);

// Create a new command struct
struct command* createCommand( char* rawPacket );

// Check and make sure the char array is a valid packet
int checkPacket( char* rawPacket);

// Handle the inbound buffer
void inboundBufferMaintenance(void);