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/**
 * @file navigator_mode.h
 *
 * Base class for different modes in navigator
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#ifndef NAVIGATOR_MODE_H
#define NAVIGATOR_MODE_H

#include <drivers/drv_hrt.h>

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <dataman/dataman.h>

#include <uORB/topics/position_setpoint_triplet.h>

class Navigator;

class NavigatorMode : public control::SuperBlock
{
public:
	/**
	 * Constructor
	 */
	NavigatorMode(Navigator *navigator, const char *name);

	/**
	 * Destructor
	 */
	virtual ~NavigatorMode();

	void run(bool active);

	/**
	 * This function is called while the mode is inactive
	 */
	virtual void on_inactive();

	/**
	 * This function is called one time when mode become active, pos_sp_triplet must be initialized here
	 */
	virtual void on_activation();

	/**
	 * This function is called while the mode is active
	 */
	virtual void on_active();

protected:
	Navigator *_navigator;

private:
	bool _first_run;

	/* this class has ptr data members, so it should not be copied,
	 * consequently the copy constructors are private.
	 */
	NavigatorMode(const NavigatorMode &);
	NavigatorMode operator=(const NavigatorMode &);
};

#endif
