state_machine.h

/*******************************************************************************
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/*******************************************************************************
 * \file state_machine.h
 * 
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 * \author Julien Lecoeur
 *   
 * \brief Handles transitions between states and modes
 *
 ******************************************************************************/


#ifndef STATE_MACHINE_H_
#define STATE_MACHINE_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "scheduler.h"
#include "state.h"
#include "mavlink_waypoint_handler.h"
#include "simulation.h"


typedef struct 
{
    uint8_t channel_switches;                           
    signal_quality_t rc_check;                          
    int8_t motor_state;                                 
    
    mavlink_waypoint_handler_t* waypoint_handler;       
    state_t* state;                                     
    simulation_model_t *sim_model;                      
    remote_t* remote;                                   
} state_machine_t;


bool state_machine_init(    state_machine_t *state_machine,
                            state_t* state, 
                            mavlink_waypoint_handler_t* waypoint_handler, 
                            simulation_model_t *sim_model, 
                            remote_t* remote);


task_return_t state_machine_set_mav_mode_n_state(state_machine_t* state_machine);

void state_machine_update(state_machine_t* state_machine);


#ifdef __cplusplus
}
#endif

#endif // STATE_MACHINE_H_