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

#ifndef COMMANDER_HELPER_H_
#define COMMANDER_HELPER_H_

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <drivers/drv_led.h>
#include <drivers/drv_board_led.h>


bool is_multirotor(const vehicle_status_s &current_status);
bool is_rotary_wing(const vehicle_status_s &current_status);
bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_rover(const vehicle_status_s &current_status);

int buzzer_init(void);
void buzzer_deinit(void);

void set_tune_override(int tune);
void set_tune(int tune);
void tune_home_set(bool use_buzzer);
void tune_mission_ok(bool use_buzzer);
void tune_mission_warn(bool use_buzzer);
void tune_mission_fail(bool use_buzzer);
void tune_positive(bool use_buzzer);
void tune_neutral(bool use_buzzer);
void tune_negative(bool use_buzzer);
void tune_failsafe(bool use_buzzer);

int blink_msg_state();

/* methods to control the onboard LED(s) */
int led_init(void);
void led_deinit(void);
int led_toggle(int led);
int led_on(int led);
int led_off(int led);

/**
 * set the LED color & mode
 * @param color @see led_control_s::COLOR_*
 * @param mode @see led_control_s::MODE_*
 */
void rgbled_set_color_and_mode(uint8_t color, uint8_t mode);

void rgbled_set_color_and_mode(uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio);

#endif /* COMMANDER_HELPER_H_ */