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#pragma once

#include <stdint.h>
#include <uORB/topics/manual_control_setpoint.h>

class ManualControlSelector
{
public:
	void setRcInMode(int32_t rc_in_mode) { _rc_in_mode = static_cast<RcInMode>(rc_in_mode); }
	void setTimeout(uint64_t timeout) { _timeout = timeout; }
	void updateValidityOfChosenInput(uint64_t now);
	void updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance);
	manual_control_setpoint_s &setpoint();
	int instance() const { return _instance; };

private:
	bool isInputValid(const manual_control_setpoint_s &input, uint64_t now) const;
	static bool isRc(uint8_t source);
	static bool isMavlink(uint8_t source);

	// COM_RC_IN_MODE parameter values
	enum class RcInMode : int32_t {
		RcOnly = 0,
		MavLinkOnly = 1,
		RcOrMavlinkWithFallback = 2,
		RcOrMavlinkKeepFirst = 3,
		DisableManualControl = 4,
		PriorityRcThenMavlinkAscending = 5,
		PriorityMavlinkAscendingThenRc = 6,
		PriorityRcThenMavlinkDescending = 7,
		PriorityMavlinkDescendingThenRc = 8
	};

	manual_control_setpoint_s _setpoint{};
	uint64_t _timeout{0};
	RcInMode _rc_in_mode{RcInMode::RcOnly};
	int _instance{-1};
	uint8_t _first_valid_source{manual_control_setpoint_s::SOURCE_UNKNOWN};
};