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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>

typedef enum {
	TRANSITION_DENIED = -1,
	TRANSITION_NOT_CHANGED = 0,
	TRANSITION_CHANGED

} transition_result_t;


// This is a struct used by the commander internally.
struct status_flags_s {
	bool condition_calibration_enabled;
	bool condition_system_sensors_initialized;
	bool condition_system_prearm_error_reported;	// true if errors have already been reported
	bool condition_system_hotplug_timeout;		// true if the hotplug sensor search is over
	bool condition_system_returned_to_home;
	bool condition_auto_mission_available;
	bool condition_global_position_valid;		// set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
	bool condition_home_position_valid;		// indicates a valid home position (a valid home position is not always a valid launch)
	bool condition_local_position_valid;
	bool condition_local_altitude_valid;
	bool condition_airspeed_valid;			// set to true by the commander app if there is a valid airspeed measurement available
	bool condition_power_input_valid;		// set if input power is valid
	bool usb_connected;				// status of the USB power supply
	bool circuit_breaker_engaged_power_check;
	bool circuit_breaker_engaged_airspd_check;
	bool circuit_breaker_engaged_enginefailure_check;
	bool circuit_breaker_engaged_gpsfailure_check;
	bool circuit_breaker_flight_termination_disabled;
	bool circuit_breaker_engaged_usb_check;
	bool offboard_control_signal_found_once;
	bool offboard_control_signal_lost;
	bool offboard_control_signal_weak;
	bool offboard_control_set_by_command;		// true if the offboard mode was set by a mavlink command and should not be overridden by RC
	bool offboard_control_loss_timeout;		// true if offboard is lost for a certain amount of time
	bool rc_signal_found_once;
	bool rc_signal_lost_cmd;			// true if RC lost mode is commanded
	bool rc_input_blocked;				// set if RC input should be ignored temporarily
	bool data_link_lost_cmd;			// datalink to GCS lost mode commanded
	bool vtol_transition_failure;			// Set to true if vtol transition failed
	bool vtol_transition_failure_cmd;		// Set to true if vtol transition failure mode is commanded
	bool gps_failure;				// Set to true if a gps failure is detected
	bool gps_failure_cmd;				// Set to true if a gps failure mode is commanded
	bool barometer_failure;				// Set to true if a barometer failure is detected
};

bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);

transition_result_t arming_state_transition(struct vehicle_status_s *status,
					    struct battery_status_s *battery,
					    const struct safety_s *safety,
					    arming_state_t new_arming_state,
					    struct actuator_armed_s *armed,
					    bool fRunPreArmChecks,
					    orb_advert_t *mavlink_log_pub,	///< uORB handle for mavlink log
					    status_flags_s *status_flags,
					    float avionics_power_rail_voltage,
					    bool can_arm_without_gps);

transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
		      status_flags_s *status_flags, struct commander_state_s *internal_state);

transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_state, orb_advert_t *mavlink_log_pub);

bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *internal_state,
		   const bool data_link_loss_enabled, const bool mission_finished,
		   const bool stay_in_failsafe, status_flags_s *status_flags, bool landed,
		   const bool rc_loss_enabled, const int offb_loss_act, const int offb_loss_rc_act);

int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report, status_flags_s *status_flags, battery_status_s *battery, bool can_arm_without_gps);

#endif /* STATE_MACHINE_HELPER_H_ */
