text: /****************************************************************************
   *
   *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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   ****************************************************************************/
  /**
   * @file mission_block.h
   *
   * Helper class to use mission items
   *
   * @author Julian Oes <julian@oes.ch>
   */
  
  #ifndef NAVIGATOR_MISSION_BLOCK_H
  #define NAVIGATOR_MISSION_BLOCK_H
  
  #include <drivers/drv_hrt.h>
  
  #include <navigator/navigation.h>
  
  #include <uORB/topics/mission.h>
  #include <uORB/topics/vehicle_global_position.h>
  #include <uORB/topics/position_setpoint_triplet.h>
  #include <uORB/topics/actuator_controls.h>
  
  #include "navigator_mode.h"
  
  class Navigator;
  
  class MissionBlock : public NavigatorMode
  {
  public:
  	/**
  	 * Constructor
  	 */
  	MissionBlock(Navigator *navigator, const char *name);
  
  	/**
  	 * Destructor
  	 */
  	virtual ~MissionBlock();
  
  protected:
  	/**
  	 * Check if mission item has been reached
  	 * @return true if successfully reached
  	 */
  	bool is_mission_item_reached();
  	/**
  	 * Reset all reached flags
  	 */
  	void reset_mission_item_reached();
  
  	bool item_contains_position(const struct mission_item_s *item);
  
  	/**
  	 * Convert a mission item to a position setpoint
  	 *
  	 * @param the mission item to convert
  	 * @param the position setpoint that needs to be set
  	 */
  	void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
  
  	/**
  	 * Set previous position setpoint to current setpoint
  	 */
  	void set_previous_pos_setpoint();
  
  	/**
  	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
  	 */
  	void set_loiter_item(struct mission_item_s *item, float min_clearance = -1.0f);
  
  	/**
  	 * Set a takeoff mission item
  	 */
  	void set_takeoff_item(struct mission_item_s *item, float min_clearance = -1.0f, float min_pitch = 0.0f);
  
  	/**
  	 * Set a land mission item
  	 */
  	void set_land_item(struct mission_item_s *item, bool at_current_location);
  
  	/**
  	 * Set idle mission item
  	 */
  	void set_idle_item(struct mission_item_s *item);
  
  	/**
  	 * Convert a mission item to a command
  	 */
  	void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
  
  	void issue_command(const struct mission_item_s *item);
  
  	mission_item_s _mission_item;
  	bool _waypoint_position_reached;
  	bool _waypoint_yaw_reached;
  	hrt_abstime _time_first_inside_orbit;
  	hrt_abstime _action_start;
  
  	actuator_controls_s _actuators;
  	orb_advert_t    _actuator_pub;
  	orb_advert_t	_cmd_pub;
  };
  
  #endif
  