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#ifndef HANDLER_H
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#ifndef HANDLER_H
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#define HANDLER_H
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#define HANDLER_H
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#include <string>
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#include <string>
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#include "Parser.h"
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#include "Parser.h"
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#include "Communication.h"
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#include "Communication.h"
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#include "Kopter.h"
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#include "Kopter.h"
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#include "../Parameter_Positions.h"
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#include "../Parameter_Positions.h"
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#include "../typedefs.h"
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#include "../typedefs.h"
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/**
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/**
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 * The Handler handels commands that are send from/to the Mikrokopter
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 * The Handler handels commands that are send from/to the Mikrokopter
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 * and parses them using the Parser-class.
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 * and parses them using the Parser-class.
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 */
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 */
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class Handler {
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class Handler {
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    private:
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    private:
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        Communication * com;
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        Communication * com;
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        KopterData * data;
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        sRxData rxData;
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        sRxData rxData;
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    public:
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- 
 
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    public:
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        KopterData * data;
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        Handler(Communication * com, KopterData * data);
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        Handler(Communication * com, KopterData * data);
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        //FlightCtrl commands
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        //FlightCtrl commands
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        void get_flightctrl_settings(int index);
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        void get_flightctrl_settings(int index);
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        void set_flightctrl_settings(char * tx_data);
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        void set_flightctrl_settings(char * tx_data);
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        void motor_test(sMotor motor);
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        void motor_test(sMotorData motor);
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        void reset_motor();
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        void reset_motor();
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        void read_motor_mixer();
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        void read_motor_mixer();
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        void write_motor_mixer(char * tx_data, int length);
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        void write_motor_mixer(char * tx_data, int length);
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        int get_motor_config(char * tx_data);
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        int get_motor_config(char * tx_data);
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        //NaviCtrl commands
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        //NaviCtrl commands
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        void set_navictrl_debug(int speed);
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        void set_navictrl_debug(int speed);
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        void stop_navictrl_debug();
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        void stop_navictrl_debug();
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        void send_waypoint(Waypoint_t desired_pos);
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        void send_waypoint(Waypoint_t desired_pos);
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        void add_waypoint(Waypoint_t wp);
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        void add_waypoint(Waypoint_t wp);
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        void delete_waypoints();
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        void delete_waypoints();
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        //switch between MK modules/components
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        //switch between MK modules/components
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        void switch_navictrl();
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        void switch_navictrl();
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        void switch_flightctrl();
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        void switch_flightctrl();
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        void switch_mk3mag();
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        void switch_mk3mag();
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        //commands for MK3MAG
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        //commands for MK3MAG
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        //commands for all modules/components
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        //commands for all modules/components
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        void set_all_debug(int speed);
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        void set_all_debug(int speed);
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        void stop_all_debug();
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        void stop_all_debug();
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        void get_analog();
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        void get_analog();
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        void show_lcd();
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        void show_lcd();
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        void lcd_up();
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        void lcd_up();
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        void lcd_down();
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        void lcd_down();
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        void get_version();
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        void get_version();
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        void get_ppm_channels();
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        void get_ppm_channels();
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        void receive_data(sRxData rx);
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        void receive_data(sRxData rx);
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};
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};
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#endif
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#endif