/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>

#include <sys/time.h>
#include <time.h>
#include "Des.h"
#ifndef ZR_FRAME_TYPE
    #define ZR_FRAME_TYPE   0
#endif
class AC_ZR_App
{
public:
    AC_ZR_App();
    /* Do not allow copies */
    AC_ZR_App(const AC_ZR_App &other) = delete;
    AC_ZR_App &operator=(const AC_ZR_App&) = delete;

    static AC_ZR_App *get_singleton() {
        return _singleton;
    }

    void get_deadline_params(uint32_t &deadline);
    bool check_deadline(uint32_t &date);
    uint32_t get_zr_sysid();

    uint16_t get_land_deceleration(int32_t alt_cm,int16_t sys_speed_dn);
    uint8_t get_battery_capacity(uint8_t type,float volt);

    static const struct AP_Param::GroupInfo var_info[];

protected:

    AP_Int8         _type;
    AP_Int8         sysid_type; // modify by @Brown
    AP_Int32        sysid_board_id;
    AP_Int32        sysid_dl1;
    AP_Int32        sysid_dl2;
    AP_Int32        sysid_dl3;
    AP_Int32        sysid_dl4;

    AP_Int16        land_slow_alt_high;
    AP_Int16        land_slow_alt_mid;
    AP_Int16        land_slow_alt_low;
    AP_Int16        land_slow_speed_dn_high;
    AP_Int16        land_slow_speed_dn_mid;
    AP_Int16        land_slow_speed_dn_low;

private:
    static AC_ZR_App *_singleton;
    uint8_t BinarySearch2f(float a[], float value, int low, int high);

};