/home/travis/build/lis-epfl/MAVRIC_Library/status/state_machine.hpp

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


#ifndef STATE_MACHINE_HPP_
#define STATE_MACHINE_HPP_

#include "status/state.hpp"
#include "status/geofence.hpp"
#include "manual_control/manual_control.hpp"
#include "manual_control/remote.hpp"
#include "drivers/state_display.hpp"
#include "sensing/ahrs.hpp"
#include "sensing/ins.hpp"
#include "sensing/imu.hpp"


class State_machine
{
public:
    State_machine(  State& state,
                    const INS& ins,
                    const Imu& imu,
                    const AHRS& ahrs,
                    Manual_control& manual_control,
                    Geofence& safety_geofence,
                    Geofence& emergency_geofence,
                    State_display& state_display);

    bool update(void);
    static bool update_task(State_machine* state_machine);

    bool set_ctrl_mode(Mav_mode mode);

    State& state_;                                       
    const INS& ins_;                                     
    const Imu& imu_;                                     
    const AHRS& ahrs_;                                 
    Manual_control& manual_control_;                     
    Geofence& safety_geofence_;                          
    Geofence& emergency_geofence_;                       
    State_display& state_display_;                       

private:
    void set_custom_mode(Mav_mode::custom_mode_t *current_custom_mode, mav_state_t *current_state);

    bool is_set_guided_allowed(bool guided);

    bool is_set_stabilize_allowed(bool stabilize);
};










#endif // STATE_MACHINE_HPP_