/****************************************************************************
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
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 *    used to endorse or promote products derived from this software
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#pragma once

#include <px4_platform_common/events.h>
#include <uORB/topics/vehicle_status.h>

#include <stdint.h>

using navigation_mode_t = events::px4::enums::navigation_mode_t;

namespace mode_util
{

static inline navigation_mode_t navigation_mode(uint8_t nav_state)
{
	switch (nav_state) {
	case vehicle_status_s::NAVIGATION_STATE_MANUAL: return navigation_mode_t::manual;

	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return navigation_mode_t::altctl;

	case vehicle_status_s::NAVIGATION_STATE_POSCTL: return navigation_mode_t::posctl;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return navigation_mode_t::auto_mission;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: return navigation_mode_t::auto_loiter;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return navigation_mode_t::auto_rtl;

	case vehicle_status_s::NAVIGATION_STATE_ACRO: return navigation_mode_t::acro;

	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: return navigation_mode_t::offboard;

	case vehicle_status_s::NAVIGATION_STATE_STAB: return navigation_mode_t::stab;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return navigation_mode_t::auto_takeoff;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return navigation_mode_t::auto_land;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: return navigation_mode_t::auto_follow_target;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: return navigation_mode_t::auto_precland;

	case vehicle_status_s::NAVIGATION_STATE_ORBIT: return navigation_mode_t::orbit;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF: return navigation_mode_t::auto_vtol_takeoff;
	}

	static_assert(vehicle_status_s::NAVIGATION_STATE_MAX  == 23, "code requires update");

	return navigation_mode_t::unknown;
}

const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
	"MANUAL",
	"ALTCTL",
	"POSCTL",
	"AUTO_MISSION",
	"AUTO_LOITER",
	"AUTO_RTL",
	"6: unallocated",
	"7: unallocated",
	"AUTO_LANDENGFAIL",
	"9: unallocated",
	"ACRO",
	"11: UNUSED",
	"DESCEND",
	"TERMINATION",
	"OFFBOARD",
	"STAB",
	"16: UNUSED2",
	"AUTO_TAKEOFF",
	"AUTO_LAND",
	"AUTO_FOLLOW_TARGET",
	"AUTO_PRECLAND",
	"ORBIT"
};

} // namespace mode_util