#pragma once

#include <QObject>

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

#include "az_mission.h"

using namespace mavsdk;

class AzMissionController : public QObject
{
    Q_OBJECT
public:
    explicit AzMissionController(System &system, AzMission &mission, QObject *parent = nullptr);
    bool startMission();
    void stopMission(void);
    bool uploadMission(void);

private:
    MissionRaw::MissionItem makeRawMissionItem(float latitudeDeg1e7,
                                               float longitudeDeg1e7,
                                               int32_t altitude,
                                               float doPhoto,
                                               MAV_FRAME frame,
                                               MAV_CMD command,
                                               float p2 = 0,
                                               float p3 = 0);

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

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

private:
    AzMission &mAzMission;
    int mCurrentMissionIndex;
    bool mMissionStarted;
    int mMissionItemSeqNum;
    MissionRaw *mMissionRaw;
    System &mSystem;
};