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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_status_flags.h>

typedef enum {
	TRANSITION_DENIED = -1,
	TRANSITION_NOT_CHANGED = 0,
	TRANSITION_CHANGED
} transition_result_t;

enum class link_loss_actions_t {
	DISABLED = 0,
	AUTO_LOITER = 1,
	AUTO_RTL = 2,
	AUTO_LAND = 3,
	AUTO_RECOVER = 4,
	TERMINATE = 5,
	LOCKDOWN = 6,
};

typedef enum {
	ARM_REQ_NONE = 0,
	ARM_REQ_MISSION_BIT = (1 << 0),
	ARM_REQ_ARM_AUTH_BIT = (1 << 1),
	ARM_REQ_GPS_BIT = (1 << 2),
} arm_requirements_t;

extern const char *const arming_state_names[];

bool is_safe(const safety_s &safety, const actuator_armed_s &armed);

transition_result_t arming_state_transition(vehicle_status_s *status, const battery_status_s &battery,
		const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks,
		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags,
		const uint8_t arm_requirements, const hrt_abstime &time_since_boot);

transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
		      const vehicle_status_flags_s &status_flags, commander_state_s *internal_state);

transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub,
		vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);

void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason);

bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
		   orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
		   const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
		   const link_loss_actions_t rc_loss_act, const int offb_loss_act, const int offb_loss_rc_act,
		   const int posctl_nav_loss_act);

/*
 * Checks the validty of position data aaainst the requirements of the current navigation
 * mode and switches mode if position data required is not available.
 */
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
				 const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);

bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
		  const battery_status_s &battery, const safety_s &safety, const uint8_t arm_requirements,
		  const hrt_abstime &time_since_boot);

#endif /* STATE_MACHINE_HELPER_H_ */