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 *
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 *    used to endorse or promote products derived from this software
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/**
 * @file mission.h
 * Helper class to access missions
 *
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef NAVIGATOR_MISSION_H
#define NAVIGATOR_MISSION_H

#include <drivers/drv_hrt.h>

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <dataman/dataman.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>

#include "mission_feasibility_checker.h"

class Navigator;

class __EXPORT Mission : public control::SuperBlock
{
public:
	/**
	 * Constructor
	 */
	Mission(Navigator *navigator);

	/**
	 * Destructor
	 */
	virtual ~Mission();

	/**
	 * This function is called while the mode is inactive
	 */
	virtual void reset();

	/**
	 * This function is called while the mode is active
	 */
	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);

protected:
	/**
	 * Check if mission item has been reached
	 * @return true if successfully reached
	 */
	bool is_mission_item_reached();
	/**
	 * Reset all reached flags
	 */
	void reset_mission_item_reached();

	/**
	 * Convert a mission item to a position setpoint
	 */
	void mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp);

	/**
	 * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
	 */
	void set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet);

	class Navigator *_navigator;

	bool _waypoint_position_reached;
	bool _waypoint_yaw_reached;
	hrt_abstime _time_first_inside_orbit;

	bool _first_run;

private:
	/**
	 * Update onboard mission topic
	 * @return true if onboard mission has been updated
	 */
	bool is_onboard_mission_updated();

	/**
	 * Update offboard mission topic
	 * @return true if offboard mission has been updated
	 */
	bool is_offboard_mission_updated();

	/**
	 * Move on to next mission item or switch to loiter
	 */
	void advance_mission();

	/**
	 * Set new mission items
	 */
	void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet);

	/**
	 * Set previous position setpoint
	 */
	void set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
			               struct position_setpoint_s *previous_pos_sp);

	/**
	 * Try to set the current position setpoint from an onboard mission item
	 * @return true if mission item successfully set
	 */
	bool is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp);

	/**
	 * Try to set the current position setpoint from an offboard mission item
	 * @return true if mission item successfully set
	 */
	bool is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp);

	/**
	 * Try to set the next position setpoint from an onboard mission item
	 */
	void get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp);

	/**
	 * Try to set the next position setpoint from an offboard mission item
	 */
	void get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp);

	/**
	 * Read a mission item from the dataman and watch out for DO_JUMPS
	 * @return true if successful
	 */
	bool read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
			       struct mission_item_s *new_mission_item);

	/**
	 * Report that a mission item has been reached
	 */
	void report_mission_item_reached();

	/**
	 * Rport the current mission item
	 */
	void report_current_offboard_mission_item();

	/**
	 * Publish the mission result so commander and mavlink know what is going on
	 */
	void publish_mission_result();

	control::BlockParamFloat _param_onboard_enabled;
	control::BlockParamFloat _param_loiter_radius;

	struct mission_s _onboard_mission;
	struct mission_s _offboard_mission;

	int _current_onboard_mission_index;
	int _current_offboard_mission_index;

	struct mission_item_s _mission_item;

	orb_advert_t _mission_result_pub;
	struct mission_result_s _mission_result;

	enum {
		MISSION_TYPE_NONE,
		MISSION_TYPE_ONBOARD,
		MISSION_TYPE_OFFBOARD
	} _mission_type;

	bool _loiter_set;

	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */

};

#endif