#ifndef _OWLPS_ARDRONE_H_
#define _OWLPS_ARDRONE_H_

#include "oc.h"


/* Program arguments (getopt string) */
#define OPTIONS "d:hi:l::n:p:t:V"

/* Number of packets to send */
#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position

/* Delay between two packet transmissions (in microseconds) */
#define DEFAULT_DELAY_CALIB 50000 // Calibration request
#define DEFAULT_DELAY_NORMAL 25000 // Localisation request

/* Maximum length of the algorithm & area names */
#define ALGO_STRLEN 15
#define AREA_STRLEN 50

/* GPS inputs */
#define SEPARATOR ','
#define EOL '$'
#define TYPE "GPS"

/* Drone commands */
#define LENSTR 1000
#define ATREF "AT*REF="
#define LANDING ",290717696"
#define TAKEOFF ",290718208"

/* Socket parameters */
#define IP "192.168.1.1"
#define PORT 5556


/* Error codes */
#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)


typedef struct _gps
{
  float time;
  char state;
  double latitude;
  char orilat;
  double longitude;
  char orilon;
  float speed;
  float cap;
  int date;
  float decmag;
} gps ;

typedef struct _consigne
{
  double lat;
  double lon;
  double alt;

  struct _consigne *next;
} consigne ;

typedef struct _point_consigne
{
  double lat;
  double lon;
  double alt;
} point_consigne ;


/* Function headers */
void parse_command_line(int argc, char **argv) ;
void parse_main_options(int argc, char **argv) ;
void check_destination_ip(void) ;
void parse_calibration_data(int argc, char **argv) ;
void check_configuration(void) ;
#ifdef DEBUG
void print_configuration(void) ;
#endif // DEBUG

void print_usage(void) ;
void print_version(void) ;

void drone_handler_sigint(const int) ;

void create_socket(void) ;
void make_packet(void) ;
void send_request(void) ;
void* receive_position(void*) ;

void string2data(char*) ;
void traficGPS(int);
void* thread_gps(void*) ;
void* thread_send(void*) ;
void* thread_control(void*) ;
void print_error(char*) ;

void drone_err(int);
int read_position(char*);
int drone_socket_create(void);
void* drone_socket_watchdog(void*);
int drone_socket_close(void);

int cmd_drone_take_off(void); //Add socket
int cmd_drone_landing(void); //Add socket
int cmd_drone_move(float, int);
int cmd_drone_init_direction(void); //Add socket

void calcul_trajectory(float*, float*);
float calcul_speed(float);
int check_destination(struct point, struct point);
float calcul_angle(void);

consigne* list_add_front(consigne*, double, double, double);
consigne* list_add_back(consigne*, double, double, double); 
void list_print(consigne*);

#endif //_OWLPS_ARDRONE_H_