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/**
 * @file navigator_mode.cpp
 *
 * Base class for different modes in navigator
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include "navigator_mode.h"
#include "navigator.h"

NavigatorMode::NavigatorMode(Navigator *navigator) :
	_navigator(navigator)
{
	/* set initial mission items */
	on_inactivation();
	on_inactive();
}

void
NavigatorMode::run(bool active)
{
	if (active) {
		if (!_active) {
			/* first run, reset stay in failsafe flag */
			_navigator->get_mission_result()->stay_in_failsafe = false;
			_navigator->set_mission_result_updated();
			on_activation();

		} else {
			/* periodic updates when active */
			on_active();
		}

	} else {
		/* periodic updates when inactive */
		if (_active) {
			on_inactivation();

		} else {
			on_inactive();
		}
	}

	_active = active;
}

void
NavigatorMode::on_inactive()
{
}

void
NavigatorMode::on_inactivation()
{
}

void
NavigatorMode::on_activation()
{
	/* invalidate position setpoint by default */
	_navigator->get_position_setpoint_triplet()->current.valid = false;
}

void
NavigatorMode::on_active()
{
}
