/home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_navigating.hpp

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/*******************************************************************************
 * \file mission_handler_navigating.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 * \author Julien Lecoeur
 *
 * \brief The mission handler for the navigating state
 *
 ******************************************************************************/


#ifndef MISSION_HANDLER_NAVIGATING_HPP_
#define MISSION_HANDLER_NAVIGATING_HPP_

#include "communication/mavlink_message_handler.hpp"
#include "mission/mission_handler.hpp"

class Mavlink_waypoint_handler;

/*
* \brief The mission handler for the navigating state
 */
class Mission_handler_navigating : public Mission_handler
{
public:
     Mission_handler_navigating(const INS& ins,
                                const Mavlink_stream& mavlink_stream,
                                Mavlink_waypoint_handler& waypoint_handler);


    virtual bool can_handle(const Waypoint& wpt) const;


    virtual bool setup(const Waypoint& wpt);


    virtual Mission_handler::update_status_t update();


    virtual bool write_flight_command(Flight_controller& flight_controller) const;


    virtual Mission_planner::internal_state_t handler_mission_state() const;

protected:
    const INS& ins_;                                                    
    const Mavlink_stream& mavlink_stream_;                              
    Mavlink_waypoint_handler& waypoint_handler_;                        

    Waypoint waypoint_;                                                 
    bool waypoint_reached_;                                             
    uint64_t start_time_;                                               
    uint32_t travel_time_;                                              

    position_command_t position_command_;                               

    void send_nav_time(const Mavlink_stream* mavlink_stream, mavlink_message_t* msg);
};

#endif // MISSION_HANDLER_NAVIGATING_HPP_