TelemetrySystem.h

//
// Created by Tom Danvers on 05/01/2023.
//
 
#ifndef MRAS_TELEMETRYSYSTEM_H
#define MRAS_TELEMETRYSYSTEM_H
 
 
#include "Subsystem.h"
#include "RadioLib.h"
#include "MRAS_Config.h"
#include "TelemetryMessage.h"
#include "system_messages/TelemetryMessageQueueMsg.h"
#include "system_messages/TelemetryMessageReceivedMsg.h"
 
class TelemetrySystem : public Subsystem {
protected:
    // create subsystem boilerplate
    SUBSYSTEM_NAME("TelemetrySystem")
 
 
    // create setup and loop functions
    int8_t setup() override;
 
    SX1262 radio = new Module(RADIO_CHIP_SELECT_PIN,
                              RADIO_DIO1_PIN,
                              RADIO_RESET_PIN,
                              RADIO_BUSY_PIN,
                              RADIO_SPI_BUS);
 
    enum TelemetrySystemState {
        IDLE,
        TX,
        RX
    } telemetry_system_state = IDLE;
 
    int16_t radio_state = 0;
 
protected:
    virtual TelemetryMessageQueueMsg* get_default_message() = 0;
 
    void transmit_next_message();
 
    void start_receiving_next_message(uint32_t timeout = 0xFFFFFF);
 
    bool read_new_message_from_buffer(TelemetryMessageReceivedMsg* output, bool receive_again = true);
 
public:
    explicit TelemetrySystem(uint8_t id) : Subsystem(id) {}
    int16_t get_radio_state() const;
};
 
 
#endif //MRAS_TELEMETRYSYSTEM_H