Milestone 2

/**
 * @brief This thread is responsible for taking the bytes from the GSC.DMAReceiveBuffer and
 * converting them to Mavlink messages/triggering the callbacks associated with each mavlink
 * message.
 */
void translateToMavlinkThread()
{
    while (true)
    {
        MT.bytesToMavlinkMsg(GSC.DMAReceiveBuffer);

        vTaskDelay(pdMS_TO_TICKS(10)); // Adjust the delay as necessary
    }
}

/**
 * @brief This thread is responsible for taking data from other managers and converting
 * them to mavlink bytes, then putting them into GSC.lowPriorityTransmitBuffer.
 */
void mavlinkToBytesThread()
{
    while (true)
    {
        // START: fill GSC.lowPriorityTransmitBuffer with data to transmit

        // END: fill GSC.lowPriorityTransmitBuffer with data to transmit

        vTaskDelay(pdMS_TO_TICKS(10)); // Adjust the delay as necessary
    }
}

void GroundStationComms::sendToGroundStation(CircularBuffer &transmissionBuffer)
{
    // Send the bytes in transmissionBuffer to the ground station via RFD900
}

void GroundStationComms::receiveFromGroundStationISR()
    {

        // if GSC.DMAReceiveBuffer has enough space for the new data add it
        //otherwise discard the data


        //end of ISR
    }

void TimerInterrupt::registerTimerInterrupt(int timeIntervalMs, void (*function)())
{
    // execute the function every timeIntervalMs using a timer interrupt on the STM32
    function();
}

/**
 * @brief This interrupt service routine is called every 500ms. It is responsible for
 * sending non routine data to the ground station. Such as arm disarmed message status,
 * fufilling data requests from the ground station etc. This is the lowest priority data
 * in the GSC.lowPriorityTransmitBuffer.
 */
void TimerISR500ms()
{
    // transmit low priority the data via GSC.sendToGroundStation(); function
    GSC.sendToGroundStation(GSC.lowPriorityTransmitBuffer);
}

/**
 * @brief This interrupt service routine is called every 1000ms. It is responsible for
 * sending the highest priority drone "state" data to the ground station. Data such as
 * heartbeat message, altitude, attitude, latitude, longitude... And anything else deemed
 * important enough to be transmitted at a regular interval. This is the highest priority
 * data in the GSC.highPriorityTransmitBuffer.
 *
 */
void TimerISR1000ms()
{

    // START: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer

    // END: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer

    // transmit the data via GSC.sendToGroundStation(); function
    GSC.sendToGroundStation(GSC.highPriorityTransmitBuffer);
}