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#include "control_mode.hpp"
#include <uORB/topics/vehicle_status.h>

namespace mode_util
{

static bool stabilization_required(uint8_t vehicle_type)
{
	return vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
}

void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
			   const offboard_control_mode_s &offboard_control_mode,
			   vehicle_control_mode_s &vehicle_control_mode)
{

	switch (nav_state) {
	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
		vehicle_control_mode.flag_control_manual_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = stabilization_required(vehicle_type);
		vehicle_control_mode.flag_control_rates_enabled = stabilization_required(vehicle_type);
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_STAB:
		vehicle_control_mode.flag_control_manual_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
		vehicle_control_mode.flag_control_manual_enabled = true;
		vehicle_control_mode.flag_control_altitude_enabled = true;
		vehicle_control_mode.flag_control_climb_rate_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
	case vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW:
		vehicle_control_mode.flag_control_manual_enabled = true;
		vehicle_control_mode.flag_control_position_enabled = true;
		vehicle_control_mode.flag_control_velocity_enabled = true;
		vehicle_control_mode.flag_control_altitude_enabled = true;
		vehicle_control_mode.flag_control_climb_rate_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
		vehicle_control_mode.flag_control_auto_enabled = true;
		vehicle_control_mode.flag_control_position_enabled = true;
		vehicle_control_mode.flag_control_velocity_enabled = true;
		vehicle_control_mode.flag_control_altitude_enabled = true;
		vehicle_control_mode.flag_control_climb_rate_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_ACRO:
		vehicle_control_mode.flag_control_manual_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
		vehicle_control_mode.flag_control_auto_enabled = true;
		vehicle_control_mode.flag_control_climb_rate_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
		/* disable all controllers on termination */
		vehicle_control_mode.flag_control_termination_enabled = true;
		break;

	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
		vehicle_control_mode.flag_control_offboard_enabled = true;

		if (offboard_control_mode.position) {
			vehicle_control_mode.flag_control_position_enabled = true;
			vehicle_control_mode.flag_control_velocity_enabled = true;
			vehicle_control_mode.flag_control_altitude_enabled = true;
			vehicle_control_mode.flag_control_climb_rate_enabled = true;
			vehicle_control_mode.flag_control_acceleration_enabled = true;
			vehicle_control_mode.flag_control_attitude_enabled = true;
			vehicle_control_mode.flag_control_rates_enabled = true;
			vehicle_control_mode.flag_control_allocation_enabled = true;

		} else if (offboard_control_mode.velocity) {
			vehicle_control_mode.flag_control_velocity_enabled = true;
			vehicle_control_mode.flag_control_altitude_enabled = true;
			vehicle_control_mode.flag_control_climb_rate_enabled = true;
			vehicle_control_mode.flag_control_acceleration_enabled = true;
			vehicle_control_mode.flag_control_attitude_enabled = true;
			vehicle_control_mode.flag_control_rates_enabled = true;
			vehicle_control_mode.flag_control_allocation_enabled = true;

		} else if (offboard_control_mode.acceleration) {
			vehicle_control_mode.flag_control_acceleration_enabled = true;
			vehicle_control_mode.flag_control_attitude_enabled = true;
			vehicle_control_mode.flag_control_rates_enabled = true;
			vehicle_control_mode.flag_control_allocation_enabled = true;

		} else if (offboard_control_mode.attitude) {
			vehicle_control_mode.flag_control_attitude_enabled = true;
			vehicle_control_mode.flag_control_rates_enabled = true;
			vehicle_control_mode.flag_control_allocation_enabled = true;

		} else if (offboard_control_mode.body_rate) {
			vehicle_control_mode.flag_control_rates_enabled = true;
			vehicle_control_mode.flag_control_allocation_enabled = true;

		} else if (offboard_control_mode.thrust_and_torque) {
			vehicle_control_mode.flag_control_allocation_enabled = true;
		}

		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:

	// Follow Target supports RC adjustment, so disable auto control mode to disable
	// the Flight Task from exiting itself when RC stick movement is detected.
	case vehicle_status_s::NAVIGATION_STATE_ORBIT:
		vehicle_control_mode.flag_control_manual_enabled = false;
		vehicle_control_mode.flag_control_auto_enabled = false;
		vehicle_control_mode.flag_control_position_enabled = true;
		vehicle_control_mode.flag_control_velocity_enabled = true;
		vehicle_control_mode.flag_control_altitude_enabled = true;
		vehicle_control_mode.flag_control_climb_rate_enabled = true;
		vehicle_control_mode.flag_control_attitude_enabled = true;
		vehicle_control_mode.flag_control_rates_enabled = true;
		vehicle_control_mode.flag_control_allocation_enabled = true;
		break;

	// vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement
	default:
		break;
	}

}

} // namespace mode_util