mission_feasibility_checker.h

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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>
 * @author Nuno Marques <nuno.marques@dronesolutions.io>
 */

#pragma once

#include <dataman/dataman.h>
#include <uORB/topics/mission.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 land_start_req);
    bool checkTakeoff(const mission_s &mission, float home_alt);
    bool checkFixedWingLanding(const mission_s &mission, bool land_start_req);

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

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);

};