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#ifndef _WAYPOINTS_H

#define _WAYPOINTS_H

#include "ubx.h"

#define POINT_TYPE_INVALID 255

#define POINT_TYPE_WP   0

#define POINT_TYPE_POI  1

#define POINT_TYPE_BOTH 2 // only command 's'

extern u8 WPIndex;              // list index of GPS point representig the current WP, can be maximal WPCount

extern u8 POIIndex;     // list index of GPS Point representing the current POI, can be maximal WPCount

extern u8 WPCount;      // number of waypoints

extern u8 PointCount;           // number of wp in the list can be maximal equal to MAX_LIST_LEN

extern u8 POICount;

typedef struct

{

        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details

        s16 Heading;                    // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List

        u8  ToleranceRadius;    // in meters, if the MK is within that range around the target, then the next target is triggered

        u8  HoldTime;                   // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered

        u8  Event_Flag;                 // future implementation

        u8  Index;              // to indentify different waypoints, workaround for bad communications PC <-> NC

        u8  Type;                               // typeof Waypoint

        u8  WP_EventChannelValue;  //

        u8      AltitudeRate;           // rate to change the setpoint

        u8  reserve[8];             // reserve

} __attribute__((packed)) Point_t;

extern Point_t* GPS_pPoi;                                               // pointer to the actual point of interrest

extern u8 POICount;

// Init List, return TRUE on success

u8 PointList_Init(void);

// Clear List, return TRUE on success

u8 PointList_Clear(void);

// Returns number of points in the list

u8 PointList_GetCount(void);

// return pointer to point at position

Point_t* PointList_GetAt(u8 index);

// appends a point to the list, returns TRUE on success

u8 PointList_Append(Point_t* pwp);

// goto the first WP in the list and return pointer to it

Point_t* PointList_WPBegin(void);

// goto the last WP in the list and return pointer to it

Point_t* PointList_WPEnd(void);

// goto next WP in the list and return pointer to it

Point_t* PointList_WPNext(void);

// disables waypoint function

void PointList_WPActive(u8 set);

// returns pointer to actual POI

Point_t* PointList_GetPOI(void);

#endif // _WAYPOINTS_H