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 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file mission.h
 *
 * Navigator mode to access missions
 *
 * @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 "mission_block.h"
#include "mission_feasibility_checker.h"
#include "navigator_mode.h"

#include <cfloat>

#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <px4_module_params.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/uORB.h>

class Navigator;

class Mission : public MissionBlock, public ModuleParams
{
public:
	Mission(Navigator *navigator);
	~Mission() override = default;

	void on_inactive() override;
	void on_inactivation() override;
	void on_activation() override;
	void on_active() override;

	enum mission_altitude_mode {
		MISSION_ALTMODE_ZOH = 0,
		MISSION_ALTMODE_FOH = 1
	};

	enum mission_yaw_mode {
		MISSION_YAWMODE_NONE = 0,
		MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
		MISSION_YAWMODE_FRONT_TO_HOME = 2,
		MISSION_YAWMODE_BACK_TO_HOME = 3,
		MISSION_YAWMODE_MAX = 4
	};

	bool set_current_offboard_mission_index(uint16_t index);

	bool land_start();
	bool landing();

	uint16_t get_land_start_index() const { return _land_start_index; }

private:

	/**
	 * Update offboard mission topic
	 */
	void update_offboard_mission();

	/**
	 * Move on to next mission item or switch to loiter
	 */
	void advance_mission();

	/**
	 * Set new mission items
	 */
	void set_mission_items();

	/**
	 * Returns true if we need to do a takeoff at the current state
	 */
	bool do_need_vertical_takeoff();

	/**
	 * Returns true if we need to move to waypoint location before starting descent
	 */
	bool do_need_move_to_land();

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

	/**
	 * Copies position from setpoint if valid, otherwise copies current position
	 */
	void copy_positon_if_valid(struct mission_item_s *mission_item, struct position_setpoint_s *setpoint);

	/**
	 * Create mission item to align towards next waypoint
	 */
	void set_align_mission_item(struct mission_item_s *mission_item, struct mission_item_s *mission_item_next);

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

	/**
	 * Updates the heading of the vehicle. Rotary wings only.
	 */
	void heading_sp_update();

	/**
	 * Updates the altitude sp to follow a foh
	 */
	void altitude_sp_foh_update();

	/**
	 * Update the cruising speed setpoint.
	 */
	void cruising_speed_sp_update();

	/**
	 * Abort landing
	 */
	void do_abort_landing();

	float get_absolute_altitude_for_item(struct mission_item_s &mission_item);

	/**
	 * Read the current and the next mission item. The next mission item read is the
	 * next mission item that contains a position.
	 *
	 * @return true if current mission item available
	 */
	bool prepare_mission_items(mission_item_s *mission_item, mission_item_s *next_position_mission_item,
				   bool *has_next_position_item);

	/**
	 * Read current (offset == 0) or a specific (offset > 0) mission item
	 * from the dataman and watch out for DO_JUMPS
	 *
	 * @return true if successful
	 */
	bool read_mission_item(int offset, mission_item_s *mission_item);

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

	/**
	 * Inform about a changed mission item after a DO_JUMP
	 */
	void report_do_jump_mission_changed(int index, int do_jumps_remaining);

	/**
	 * Set a mission item as reached
	 */
	void set_mission_item_reached();

	/**
	 * Set the current offboard mission item
	 */
	void set_current_offboard_mission_item();

	/**
	 * Check whether a mission is ready to go
	 */
	void check_mission_valid(bool force);


	/**
	 * Reset offboard mission
	 */
	void reset_offboard_mission(struct mission_s &mission);

	/**
	 * Returns true if we need to reset the mission
	 */
	bool need_to_reset_mission(bool active);

	/**
	 * Project current location with heading to far away location and fill setpoint.
	 */
	void generate_waypoint_from_heading(struct position_setpoint_s *setpoint, float yaw);

	/**
	 * Find and store the index of the landing sequence (DO_LAND_START)
	 */
	bool find_offboard_land_start();

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::MIS_DIST_1WP>) _param_dist_1wp,
		(ParamFloat<px4::params::MIS_DIST_WPS>) _param_dist_between_wps,
		(ParamInt<px4::params::MIS_ALTMODE>) _param_altmode,
		(ParamInt<px4::params::MIS_YAWMODE>) _param_yawmode,
		(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mnt_yaw_ctl
	)

	struct mission_s _offboard_mission {};

	int32_t _current_offboard_mission_index{-1};

	// track location of planned mission landing
	bool	_land_start_available{false};
	uint16_t _land_start_index{UINT16_MAX};		/**< index of DO_LAND_START, INVALID_DO_LAND_START if no planned landing */

	bool _need_takeoff{true};					/**< if true, then takeoff must be performed before going to the first waypoint (if needed) */

	enum {
		MISSION_TYPE_NONE,
		MISSION_TYPE_OFFBOARD
	} _mission_type{MISSION_TYPE_NONE};

	bool _inited{false};
	bool _home_inited{false};
	bool _need_mission_reset{false};

	float _min_current_sp_distance_xy{FLT_MAX}; /**< minimum distance which was achieved to the current waypoint  */

	float _distance_current_previous{0.0f}; /**< distance from previous to current sp in pos_sp_triplet,
					    only use if current and previous are valid */

	enum work_item_type {
		WORK_ITEM_TYPE_DEFAULT,		/**< default mission item */
		WORK_ITEM_TYPE_TAKEOFF,		/**< takeoff before moving to waypoint */
		WORK_ITEM_TYPE_MOVE_TO_LAND,	/**< move to land waypoint before descent */
		WORK_ITEM_TYPE_ALIGN,		/**< align for next waypoint */
		WORK_ITEM_TYPE_CMD_BEFORE_MOVE,
		WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF,
		WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION,
		WORK_ITEM_TYPE_PRECISION_LAND
	} _work_item_type{WORK_ITEM_TYPE_DEFAULT};	/**< current type of work to do (sub mission item) */
};
