/home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_waypoint_handler.hpp

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/*******************************************************************************
 * \file mavlink_waypoint_handler.hpp
 *
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 * \author Matthew Douglas
 *
 * \brief The MAVLink waypoint handler
 *
 ******************************************************************************/


#ifndef MAVLINK_WAYPOINT_HANDLER__
#define MAVLINK_WAYPOINT_HANDLER__

#include "communication/mavlink_message_handler.hpp"
#include "communication/mavlink_stream.hpp"
#include "communication/mavlink_message_handler.hpp"
#include "mission/mission_handler_registry.hpp"
#include "mission/waypoint.hpp"
#include "sensing/ins.hpp"

#define MAX_WAYPOINTS 10        ///< The maximal size of the waypoint list

/*
 * N.B.: Reference Frames and MAV_CMD_NAV are defined in "maveric.h"
 */

class Mavlink_waypoint_handler
{
public:

    struct conf_t
    {
        float home_altitude;
    };


    Mavlink_waypoint_handler(   const INS& ins,
                                Mavlink_message_handler& message_handler,
                                const Mavlink_stream& mavlink_stream,
                                Mission_handler_registry& mission_handler_registry,
                                conf_t config = default_config());

    bool init();

    inline uint16_t waypoint_count() const {return waypoint_count_;};

    inline uint64_t waypoint_received_time_ms() const { return waypoint_received_time_ms_; };

    static inline conf_t default_config();

    const Waypoint& current_waypoint() const;

    const Waypoint& next_waypoint() const;

    const Waypoint& waypoint_from_index(int i) const;

    const Waypoint& home_waypoint() const;

    void advance_to_next_waypoint();

    uint16_t current_waypoint_index() const;

    bool set_current_waypoint_index(int index);

protected:
    Waypoint waypoint_list_[MAX_WAYPOINTS];                     
    uint16_t waypoint_count_;                                   
    uint16_t current_waypoint_index_;                           

    Waypoint home_waypoint_;                                    

    const Mavlink_stream& mavlink_stream_;                      
    const INS& ins_;                                            
    Mavlink_message_handler& message_handler_;                  
    Mission_handler_registry& mission_handler_registry_;        
private:
    uint64_t waypoint_received_time_ms_;                        

    uint16_t requested_waypoint_count_;                         

    uint32_t timeout_max_waypoint_;                             

    conf_t config_;

    void send_home_waypoint();

    /************************************************
     *      static member functions (callbacks)     *
     ************************************************/

    static mav_result_t set_home(Mavlink_waypoint_handler* waypoint_handler, const mavlink_command_long_t* packet);

    static void request_list_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);

    static void mission_request_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);

    static void mission_ack_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);

    static void mission_count_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);

    static void mission_item_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);

    static void mission_clear_all_callback(Mavlink_waypoint_handler* waypoint_handler, uint32_t sysid, const mavlink_message_t* msg);
};


Mavlink_waypoint_handler::conf_t Mavlink_waypoint_handler::default_config()
{
    conf_t conf                                                = {};

    conf.home_altitude                                         = -10.0f;

    return conf;
};







#endif // MAVLINK_WAYPOINT_HANDLER__