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/**
 * @file mission.h
 *
 * Mission mode class that handles everything related to executing a mission.
 * This class gets included as one of the 'modes' in the Navigator, along with other
 * modes like RTL, Loiter, etc.
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Ban Siesta <bansiesta@gmail.com>
 * @author Lorenz Meier <lorenz@px4.io>
 */

#pragma once

#include <cstdint>

#include "mission_base.h"
#include "navigation.h"

class Navigator;

class Mission : public MissionBase
{
public:
	Mission(Navigator *navigator);
	~Mission() = default;

	virtual void on_inactive() override;
	virtual void on_activation() override;

	bool set_current_mission_index(uint16_t index);

	uint16_t get_land_start_index() const { return _mission.land_start_index; }
	bool get_land_start_available() const { return hasMissionLandStart(); }

	bool isLanding();

private:

	bool setNextMissionItem() override;

	/**
	 * Returns true if we need to move to waypoint location after vtol takeoff
	 */
	bool do_need_move_to_takeoff();

	/**
	 * Calculate takeoff height for mission item considering ground clearance
	 */
	float calculate_takeoff_altitude(struct mission_item_s *mission_item);

	/**
	 * Save current mission state to dataman
	 */
	void save_mission_state();

	void setActiveMissionItems() override;

	void handleTakeoff(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], size_t &num_found_items);

	void handleVtolTransition(WorkItemType &new_work_item_type, mission_item_s next_mission_items[],
				  size_t &num_found_items);

	bool _need_mission_save{false};
};