path: root/src/modules/navigator/mission_feasibility_checker.h

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/**
 * @file mission_feasibility_checker.h
 * Provides checks if mission is feasible given the navigation capabilities
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 */

#ifndef MISSION_FEASIBILITY_CHECKER_H_
#define MISSION_FEASIBILITY_CHECKER_H_

#include <unistd.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/navigation_capabilities.h>
#include <dataman/dataman.h>
#include "geofence.h"


class MissionFeasibilityChecker
{
private:
	int		_mavlink_fd;

	int _capabilities_sub;
	struct navigation_capabilities_s _nav_caps;

	bool _initDone;
	void init();

	/* Checks for all airframes */
	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);

	/* Checks specific to fixedwing airframes */
	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
	void updateNavigationCapabilities();

	/* Checks specific to rotarywing airframes */
	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
public:

	MissionFeasibilityChecker();
	~MissionFeasibilityChecker() {}

	/*
	 * Returns true if mission is feasible and false otherwise
	 */
	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
				  float home_alt);

};


#endif /* MISSION_FEASIBILITY_CHECKER_H_ */