#ifndef _USER_RID_H
#define _USER_RID_H

#include "stdint.h"
#include "stdbool.h"
#include "common.h"
#include "canard.h"
void send_msg_to_remoteid(void);

enum Remoteid_type
{
    LOCATION_TYPE = 1,
    SYS_OPERATOR_TYPE = 2,
    BASICID_TYPE = 3,
    SELFID_TYPE = 4,
    OPERATOR_TYPE = 5,
    ARMSTATUS_TYPE = 6,

    RID_TYPE_END,
};

bool remoteid_shouldAcceptTransfer(const CanardInstance *ins,
                                           uint64_t *out_data_type_signature,
                                           uint16_t data_type_id,
                                           CanardTransferType transfer_type,
                                           uint8_t source_node_id);
int remoteid_OnRecieved(CanardInstance *canardIns,
                                CanardRxTransfer *transfer);
extern Connect_check remoteid_link;
//remoteid
#pragma pack(1)
typedef struct{
 int32_t latitude; /*< [degE7] Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).*/
 int32_t longitude; /*< [degE7] Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).*/
 float altitude_barometric; /*< [m] The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.*/
 float altitude_geodetic; /*< [m] The geodetic altitude as defined by WGS84. If unknown: -1000 m.*/
 float height; /*< [m] The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.*/
 float timestamp; /*< [s] Seconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60*60*1000))) / 1000. If unknown: 0xFFFF.*/
 uint16_t direction; /*< [cdeg] Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.*/
 uint16_t speed_horizontal; /*< [cm/s] Ground speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.*/
 int16_t speed_vertical; /*< [cm/s] The vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.*/
 uint8_t target_system; /*<  System ID (0 for broadcast).*/
 uint8_t target_component; /*<  Component ID (0 for broadcast).*/
 uint8_t id_or_mac[20]; /*<  Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. */
 uint8_t status; /*<  Indicates whether the unmanned aircraft is on the ground or in the air.*/
 uint8_t height_reference; /*<  Indicates the reference point for the height field.*/
 uint8_t horizontal_accuracy; /*<  The accuracy of the horizontal position.*/
 uint8_t vertical_accuracy; /*<  The accuracy of the vertical position.*/
 uint8_t barometer_accuracy; /*<  The accuracy of the barometric altitude.*/
 uint8_t speed_accuracy; /*<  The accuracy of the horizontal and vertical speed.*/
 uint8_t timestamp_accuracy; /*<  The accuracy of the timestamps.*/
} _location_msg;
#pragma pack()
extern _location_msg locationId;

#pragma pack(1)
typedef struct{
 int32_t operator_latitude; /*< [degE7] Latitude of the operator. If unknown: 0 (both Lat/Lon).*/
 int32_t operator_longitude; /*< [degE7] Longitude of the operator. If unknown: 0 (both Lat/Lon).*/
 float area_ceiling; /*< [m] Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.*/
 float area_floor; /*< [m] Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.*/
 float operator_altitude_geo; /*< [m] Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.*/
 uint32_t timestamp; /*< [s] 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.*/
 uint16_t area_count; /*<  Number of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.*/
 uint16_t area_radius; /*< [m] Radius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.*/
 uint8_t target_system; /*<  System ID (0 for broadcast).*/
 uint8_t target_component; /*<  Component ID (0 for broadcast).*/
 uint8_t id_or_mac[20]; /*<  Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. */
 uint8_t operator_location_type; /*<  Specifies the operator location type.*/
 uint8_t classification_type; /*<  Specifies the classification type of the UA.*/
 uint8_t category_eu; /*<  When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.*/
 uint8_t class_eu; /*<  When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.*/
} _sys_operator_msg;
#pragma pack()
extern _sys_operator_msg systemId;

#pragma pack(1)
typedef struct  {
 uint8_t target_system; /*<  System ID (0 for broadcast).*/
 uint8_t target_component; /*<  Component ID (0 for broadcast).*/
 uint8_t id_or_mac[20]; /*<  Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. */
 uint8_t id_type; /*<  Indicates the format for the uas_id field of this message.*/
 uint8_t ua_type; /*<  Indicates the type of UA (Unmanned Aircraft).*/
 uint8_t uas_id[20]; /*<  UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.*/
} _basicId_msg;
#pragma pack()
extern _basicId_msg basicId;


#pragma pack(1)
typedef struct{
 uint8_t target_system; /*<  System ID (0 for broadcast).*/
 uint8_t target_component; /*<  Component ID (0 for broadcast).*/
 uint8_t id_or_mac[20]; /*<  Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. */
 uint8_t description_type; /*<  Indicates the type of the description field.*/
 char description[23]; /*<  Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.*/
} _selfId_msg;
#pragma pack()
extern _selfId_msg selfId;

#pragma pack(1)
typedef struct{
 uint8_t target_system; /*<  System ID (0 for broadcast).*/
 uint8_t target_component; /*<  Component ID (0 for broadcast).*/
 uint8_t id_or_mac[20]; /*<  Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. */
 uint8_t operator_id_type; /*<  Indicates the type of the operator_id field.*/
 char operator_id[20]; /*<  Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.*/
} _operatorId_msg;
#pragma pack()
extern _operatorId_msg operatorId;

#pragma pack(1)
typedef struct{
 uint8_t status;
 uint8_t len; 
 uint8_t data[50];
} _armStatusID_msg;
#pragma pack()
extern _armStatusID_msg StatusId;

#endif