#pragma once

#include <QObject>
#include <QElapsedTimer>

#include <mavsdk/plugins/telemetry/telemetry.h>

#include "az_mission.h"
#include "plugins/action/action.h"

using namespace mavsdk;

class AzMissionController : public QObject
{
    Q_OBJECT
public:
    explicit AzMissionController(AzMission &mission, QObject *parent = nullptr);
    void setAction(Action *action);
    bool startMissions(float absoluteAltitude);
    void stopMissions(void);

public slots:
    void newPosition(Telemetry::Position position);

signals:
    void missionProgressChanged(int currentIndex, int totalIndexes);
    void finished(void);

private:
    bool flyToNextMissionItem(void);

    AzMission &mMission;
    Action *mAction;
    int mCurrentMissionIndex;
    bool mMissionStarted;
    bool mFlyingToReturnPoint;
    float mAbsoluteAltitude;
    QElapsedTimer mPlaneCirclingTime;
};