text: /****************************************************************************
   *
   *   Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
   *
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   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
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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 <float.h>
  
  #include <dataman/dataman.h>
  #include <drivers/drv_hrt.h>
  #include <px4_platform_common/module_params.h>
  #include <uORB/Subscription.hpp>
  #include <uORB/topics/home_position.h>
  #include <uORB/topics/mission.h>
  #include <uORB/topics/mission_result.h>
  #include <uORB/topics/navigator_mission_item.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;
  
  	bool set_current_mission_index(uint16_t index);
  
  	bool land_start();
  	bool landing();
  
  	uint16_t get_land_start_index() const { return _land_start_index; }
  	bool get_land_start_available() const { return _land_start_available; }
  	bool get_mission_finished() const { return _mission_type == MISSION_TYPE_NONE; }
  	bool get_mission_changed() const { return _mission_changed ; }
  	bool get_mission_waypoints_changed() const { return _mission_waypoints_changed ; }
  	double get_landing_start_lat() { return _landing_start_lat; }
  	double get_landing_start_lon() { return _landing_start_lon; }
  	float get_landing_start_alt() { return _landing_start_alt; }
  
  	double get_landing_lat() { return _landing_lat; }
  	double get_landing_lon() { return _landing_lon; }
  	float get_landing_alt() { return _landing_alt; }
  
  	void set_closest_item_as_current();
  
  	/**
  	 * Set a new mission mode and handle the switching between the different modes
  	 *
  	 * For a list of the different modes refer to mission_result.msg
  	 */
  	void set_execution_mode(const uint8_t mode);
  private:
  
  	/**
  	 * Update mission topic
  	 */
  	void update_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_position_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();
  
  	/**
  	 * Update the cruising speed setpoint.
  	 */
  	void cruising_speed_sp_update();
  
  	/**
  	 * Abort landing
  	 */
  	void do_abort_landing();
  
  	/**
  	 * 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,
  				   mission_item_s *next_next_position_mission_item = nullptr, bool *has_next_next_position_item = nullptr);
  
  	/**
  	 * 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, struct mission_item_s *mission_item);
  
  	/**
  	 * Save current mission state to dataman
  	 */
  	void save_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 mission item
  	 */
  	void set_current_mission_item();
  
  	/**
  	 * Check whether a mission is ready to go
  	 */
  	void check_mission_valid(bool force);
  
  	/**
  	 * Reset mission
  	 */
  	void reset_mission(struct mission_s &mission);
  
  	/**
  	 * Returns true if we need to reset the mission (call this only when inactive)
  	 */
  	bool need_to_reset_mission();
  
  	/**
  	 * 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_mission_land_start();
  
  	/**
  	 * Return the index of the closest mission item to the current global position.
  	 */
  	int32_t index_closest_mission_item() const;
  
  	bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const;
  
  	void publish_navigator_mission_item();
  
  	DEFINE_PARAMETERS(
  		(ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
  		(ParamFloat<px4::params::MIS_DIST_WPS>) _param_mis_dist_wps,
  		(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
  	)
  
  	uORB::Publication<navigator_mission_item_s> _navigator_mission_item_pub{ORB_ID::navigator_mission_item};
  
  	uORB::Subscription	_mission_sub{ORB_ID(mission)};		/**< mission subscription */
  	mission_s		_mission {};
  
  	int32_t _current_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 */
  	double _landing_start_lat{0.0};
  	double _landing_start_lon{0.0};
  	float _landing_start_alt{0.0f};
  
  	double _landing_lat{0.0};
  	double _landing_lon{0.0};
  	float _landing_alt{0.0f};
  
  	bool _need_takeoff{true};					/**< if true, then takeoff must be performed before going to the first waypoint (if needed) */
  
  	hrt_abstime _time_mission_deactivated{0};
  
  	enum {
  		MISSION_TYPE_NONE,
  		MISSION_TYPE_MISSION
  	} _mission_type{MISSION_TYPE_NONE};
  
  	bool _inited{false};
  	bool _home_inited{false};
  	bool _need_mission_reset{false};
  	bool _mission_waypoints_changed{false};
  	bool _mission_changed{false}; /** < true if the mission changed since the mission mode was active */
  
  	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) */
  
  	uint8_t _mission_execution_mode{mission_result_s::MISSION_EXECUTION_MODE_NORMAL};	/**< the current mode of how the mission is executed,look at mission_result.msg for the definition */
  	bool _execution_mode_changed{false};
  };
  