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/**
 * @file mission_feasibility_checker.h
 * Provides checks if mission is feasible given the navigation capabilities
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Sander Smeets <sander@droneslab.com>
 */

#pragma once

#include <dataman/dataman.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fw_pos_ctrl_status.h>

class Geofence;
class Navigator;

class MissionFeasibilityChecker
{
private:
	Navigator *_navigator{nullptr};

	/* Checks for all airframes */
	bool checkGeofence(const mission_s &mission, float home_alt, bool home_valid);

	bool checkHomePositionAltitude(const mission_s &mission, float home_alt, bool home_alt_valid, bool throw_error);

	bool checkMissionItemValidity(const mission_s &mission);

	bool checkDistanceToFirstWaypoint(const mission_s &mission, float max_distance);
	bool checkDistancesBetweenWaypoints(const mission_s &mission, float max_distance);

	/* Checks specific to fixedwing airframes */
	bool checkFixedwing(const mission_s &mission, float home_alt, bool home_alt_valid, bool land_start_req);
	bool checkFixedWingTakeoff(const mission_s &mission, float home_alt, bool home_alt_valid);
	bool checkFixedWingLanding(const mission_s &mission, bool land_start_req);

	/* Checks specific to rotarywing airframes */
	bool checkRotarywing(const mission_s &mission, float home_alt, bool home_alt_valid);

public:
	MissionFeasibilityChecker(Navigator *navigator) : _navigator(navigator) {}
	~MissionFeasibilityChecker() = default;

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

	/*
	 * Returns true if mission is feasible and false otherwise
	 */
	bool checkMissionFeasible(const mission_s &mission,
				  float max_distance_to_1st_waypoint, float max_distance_between_waypoints,
				  bool land_start_req);

};

