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/**
 * @file waypoints.h
 * MAVLink waypoint protocol definition (BSD-relicensed).
 *
 * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 */

#ifndef WAYPOINTS_H_
#define WAYPOINTS_H_

/* This assumes you have the mavlink headers on your include path
 or in the same folder as this source file */

#include <v1.0/mavlink_types.h>
#include "mavlink_bridge_header.h"
#include <stdbool.h>
#include <uORB/topics/mission.h>

enum MAVLINK_WPM_STATES {
	MAVLINK_WPM_STATE_IDLE = 0,
	MAVLINK_WPM_STATE_SENDLIST,
	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
	MAVLINK_WPM_STATE_GETLIST,
	MAVLINK_WPM_STATE_GETLIST_GETWPS,
	MAVLINK_WPM_STATE_GETLIST_GOTALL,
	MAVLINK_WPM_STATE_ENUM_END
};

enum MAVLINK_WPM_CODES {
	MAVLINK_WPM_CODE_OK = 0,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
	MAVLINK_WPM_CODE_ENUM_END
};


#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000         ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000           ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000


struct mavlink_wpm_storage {
	uint16_t size;
	uint16_t max_size;
	enum MAVLINK_WPM_STATES current_state;
	int16_t current_wp_id;							///< Waypoint in current transmission
	uint16_t current_count;
	uint8_t current_partner_sysid;
	uint8_t current_partner_compid;
	uint64_t timestamp_lastaction;
	uint64_t timestamp_last_send_setpoint;
	uint32_t timeout;
	int current_dataman_id;
};

typedef struct mavlink_wpm_storage mavlink_wpm_storage;

int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);


void mavlink_wpm_init(mavlink_wpm_storage *state);
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_message_handler(const mavlink_message_t *msg);

extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
		float param2, float param3, float param4, float param5_lat_x,
		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);

static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];

#endif /* WAYPOINTS_H_ */