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

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/*******************************************************************************
 * \file mission_planner.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 * \author Julien Lecoeur
 *
 * \brief The mission planner
 *
 ******************************************************************************/


#ifndef MISSION_PLANNER_HPP_
#define MISSION_PLANNER_HPP_

#include "communication/mavlink_communication.hpp"
#include "communication/mavlink_stream.hpp"
#include "communication/mavlink_waypoint_handler.hpp"
#include "sensing/ahrs.hpp"
#include "sensing/ins.hpp"
#include "communication/mavlink_message_handler.hpp"
#include "status/state.hpp"
#include "manual_control/manual_control.hpp"
#include "status/geofence.hpp"
#include "mission/mission_handler_registry.hpp"
#include "navigation/dubin.hpp"
#include "flight_controller/flight_controller.hpp"

class Mission_handler;

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

class Mission_planner: public Flight_command_source
{
public:
    enum internal_state_t
    {
        STANDBY,
        PREMISSION,
        MISSION,
        POSTMISSION,
        PAUSED,
        MANUAL_CTRL
    };

    enum critical_behavior_enum
    {
        CLIMB_TO_SAFE_ALT,                                  
        FLY_TO_HOME_WP,                                     
        HOME_LAND,                                          
        CRITICAL_LAND                                       
    };

    struct conf_t
    {
        float safe_altitude;                                
        float critical_landing_altitude;                    
        float takeoff_altitude;                             
    };


    Mission_planner(    INS& ins,
                        const AHRS& ahrs,
                        State& state,
                        const Manual_control& manual_control,
                        const Geofence& geofence,
                        Mavlink_message_handler& message_handler,
                        const Mavlink_stream& mavlink_stream,
                        Mavlink_waypoint_handler& waypoint_handler,
                        Mission_handler_registry& mission_handler_registry,
                        conf_t config = default_config());


    bool init();


    static bool update(Mission_planner* mission_planner);


    bool write_flight_command(Flight_controller& flight_controller) const;


    static inline conf_t default_config();


    void set_critical_next_state(bool critical_next_state);


    internal_state_t internal_state() const;

    critical_behavior_enum critical_behavior() const;

    bool switch_mission_handler(const Waypoint& waypoint);

    bool insert_ad_hoc_waypoint(Waypoint wpt);

    inline float& takeoff_altitude() { return config_.takeoff_altitude; }

protected:
    Mission_handler* current_mission_handler_;                  
    Waypoint inserted_waypoint_;                                

    internal_state_t internal_state_;                           
    critical_behavior_enum critical_behavior_;                   

    Mavlink_waypoint_handler& waypoint_handler_;                
    Mission_handler_registry& mission_handler_registry_;        

    bool require_takeoff_;                                      
    bool hold_position_set_;                                    

    bool critical_next_state_;                                  
    Waypoint critical_waypoint_;                                

    const Mavlink_stream& mavlink_stream_;                      
    State& state_;                                              
    INS& ins_;                                                  
    const AHRS& ahrs_;                                          
    const Manual_control& manual_control_;                      
    const Geofence& geofence_;                                  
    Mavlink_message_handler& message_handler_;                  

    conf_t config_;



    void state_machine();

    void critical_handler();

    void set_internal_state(internal_state_t new_internal_state);

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

    bool set_current_waypoint(uint16_t index);


    static void mission_set_current_callback(Mission_planner* mission_planner, uint32_t sysid, const mavlink_message_t* msg);

    static mav_result_t nav_go_home(Mission_planner* mission_planner, const mavlink_command_long_t* packet);

    static mav_result_t mission_start_callback(Mission_planner* mission_planner, const mavlink_command_long_t* packet);


    static mav_result_t nav_takeoff_callback(Mission_planner* mission_planner, const mavlink_command_long_t* packet);

    static mav_result_t nav_land_callback(Mission_planner* mission_planner, const mavlink_command_long_t* packet);

    static mav_result_t override_goto_callback(Mission_planner* mission_planner, const mavlink_command_long_t* packet);
};


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

    conf.safe_altitude                                          = -30.0f;
    conf.critical_landing_altitude                              =  -5.0f;
    conf.takeoff_altitude                                       = -10.0f;

    return conf;
};







#endif // MISSION_PLANNER_HPP_