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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

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

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

} transition_result_t;

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

transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
		arming_state_t new_arming_state, struct actuator_armed_s *armed, bool fRunPreArmChecks, const int mavlink_fd);

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

transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);

bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);

int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);

#endif /* STATE_MACHINE_HELPER_H_ */