/****************************************************************************
 *
 *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
 *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
 *           Julian Oes <joes@student.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>

typedef enum {
	TRANSITION_DENIED = -1,
	TRANSITION_NOT_CHANGED = 0,
	TRANSITION_CHANGED

} transition_result_t;

transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
		const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed);

bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);

bool check_arming_state_changed();

transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);

bool check_main_state_changed();

transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode);

bool check_navigation_state_changed();

void set_navigation_state_changed();

int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd);

#endif /* STATE_MACHINE_HELPER_H_ */