#ifndef TASKCREATOR_H
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#define TASKCREATOR_H
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#include <Arduino.h>
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#include "modules/my_params/DefaultParametrs.h"
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#include "modules/my_eeprom/EepromParams.h"
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#include "modules/my_update_server/UpdateServer.h"
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#include "modules/my_mavlink_rx/MavlinkReciver.h"
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#include "modules/my_mavlink_tx/MavlinkTransmitter.h"
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#include "modules/my_state_machine/StateMachine.h"
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#include "modules/my_tracker_rxtx/TrackerRxTx.h"
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#include "modules/my_altimeter/Altimeter.h"
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#include "modules/my_altimeter/NV7Rangefinder.h"
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#include "modules/my_altimeter/GRF500.h"
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#include "modules/my_altimeter/NRA15.h"
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#define HWSerial1_tx_pin (26)
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#define HWSerial1_rx_pin (27)
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#define HWSerial2Eth_tx_pin (17)
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#define HWSerial2Eth_rx_pin (5)
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#define HWSerial2_tx_pin (15)
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#define HWSerial2_rx_pin (2)
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#define HWSerial1Eth_tx_pin (2)
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#define HWSerial1Eth_rx_pin (4)
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#define SOFT_VER "Version V1.9.6b"
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constexpr MAV_COMPONENT MY_COMP_ID = MAV_COMP_ID_ONBOARD_COMPUTER2;
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class TaskCreator
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{
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public:
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TaskCreator();
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void Init();
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DefaultParametrs mParams;
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EepromParams mEeprom;
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UpdateServer mUpdateServer;
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MavlinkReciver mReciver;
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MavlinkTransmitter mTransmitter;
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StateMachine mStateMachine;
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TrackerRxTx mTracker;
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Altimiter mAltimiter;
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NV7Rangefinder mNV7;
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GRF500 mGRF500;
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NRA15 mNRA15;
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private:
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void StartTaskEeprom();
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void StartTaskMavlinkRx();
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void StartTaskMavlinkTx();
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void StartTaskStateMachine();
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void StartTaskTracker();
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void StartTaskRangefinder();
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void CreateTasks();
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uint32_t GetBaudRate();
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};
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#endif
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