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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
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file mission_block.h
 *
 * Helper class to use mission items
 *
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include "navigator_mode.h"
#include "navigation.h"

#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vtol_vehicle_status.h>

class Navigator;

class MissionBlock : public NavigatorMode
{
public:
	/**
	 * Constructor
	 */
	MissionBlock(Navigator *navigator);
	virtual ~MissionBlock() = default;

	MissionBlock(const MissionBlock &) = delete;
	MissionBlock &operator=(const MissionBlock &) = delete;

	/**
	 * Check if the mission item contains a navigation position
	 *
	 * @return false if the mission item does not contain a valid position
	 */
	static bool item_contains_position(const mission_item_s &item);

	/**
	 * Check if the mission item contains a gate condition
	 *
	 * @return true if mission item is a gate
	 */
	static bool item_contains_gate(const mission_item_s &item);

	/**
	 * Check if the mission item contains a marker
	 *
	 * @return true if mission item is a marker
	 */
	static bool item_contains_marker(const mission_item_s &item);

protected:
	/**
	 * Check if mission item has been reached
	 * @return true if successfully reached
	 */
	bool is_mission_item_reached();

	/**
	 * Reset all reached flags
	 */
	void reset_mission_item_reached();

	/**
	 * Convert a mission item to a position setpoint
	 *
	 * @param the mission item to convert
	 * @param the position setpoint that needs to be set
	 */
	bool mission_item_to_position_setpoint(const mission_item_s &item, position_setpoint_s *sp);

	/**
	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
	 */
	void set_loiter_item(struct mission_item_s *item, float min_clearance = -1.0f);

	/**
	 * Set a takeoff mission item
	 */
	void set_takeoff_item(struct mission_item_s *item, float abs_altitude, float min_pitch = 0.0f);

	/**
	 * Set a land mission item
	 */
	void set_land_item(struct mission_item_s *item, bool at_current_location);

	/**
	 * Set idle mission item
	 */
	void set_idle_item(struct mission_item_s *item);

	/**
	 * Set vtol transition item
	 */
	void set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode);

	/**
	 * General function used to adjust the mission item based on vehicle specific limitations
	 */
	void mission_apply_limitation(mission_item_s &item);

	void issue_command(const mission_item_s &item);

	float get_time_inside(const mission_item_s &item) const ;

	float get_absolute_altitude_for_item(const mission_item_s &mission_item) const;

	mission_item_s _mission_item{};

	bool _waypoint_position_reached{false};
	bool _waypoint_yaw_reached{false};
	bool _waypoint_position_reached_previously{false};

	hrt_abstime _time_first_inside_orbit{0};
	hrt_abstime _action_start{0};
	hrt_abstime _time_wp_reached{0};

	uORB::Publication<actuator_controls_s>	_actuator_pub{ORB_ID(actuator_controls_2)};
};