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enum _ModifyFlightPathCommand { NO_FLIGHT_PATH_EDIT = 0, INITIALIZE_FLIGHT_PATH, APPEND, INSERT, UPDATE, DELETE, NUKE }; // Used by cruisingState
enum _GetNextDirectionsCommand { REGULAR_PATH_FOLLOWING = 0, TOGGLE_HOLDING, TOGGLE_HEAD_HOME }; // Used by cruisingState

struct Telemetry_Waypoint_Data_t {
    long double latitude;
    long double longitude;
    int altitude;
    float turnRadius;
    intuint8_t waypointType; // 0 = Path follow, 1 = Orbit, 2 = Hold
};

struct Telemetry_PIGO_t {

    ... other data sent by telemetry

    /* Parameters for the waypoint manager (crusingState) */
    int numWaypoints;
    
    char_ModifyFlightPathCommand waypointModifyFlightPathCommand; // 0 = nothing, 1 = initialize flight path, 2 = append, 3 = insert, 4 = update, 5 = delete, 6 = nuke
    bool initializingHomeBase; // 0 = no, 1 = yes
    char_GetNextDirectionsCommand waypointNextDirectionsCommand; // 0 = nothing, 1 = start/end holding, 2 = head home
    int holdingAltitude;
    int holdingTurnRadius;
    charuint8_t holdingTurnDirection; // 0 = CW, 1 = CCW

    // When modifying the flight path.
    int nextId;
    int prevId;
    int modifyId;

    Telemetry_Waypoint_Data_t * waypoints[100]; // Somehow need to get PATH_BUFFER_SIZE here...
    Telemetry_Waypoint_Data_t homebase;
}

#include "pathDatatypes.hpp"
#include "waypointManager.hpp"

#ifndef CRUISING_STATE
#define CRUISING_STATE
#ifndef CRUISING_STATE
#define CRUISING_STATE

enum _ModifyFlightPathErrorCode { MODIFY_CRUISING_SUCCESS = 0, MODIFY_CRUISING_ERROR, MODIFY_CRUISING_INCORRECT_TELEMETRY_COMMAND };
enum _GetNextDirectionsErrorCode { PATH_CRUISING_SUCCESS = 0, PATH_CRUISING_ERROR, PATH_CRUISING_INCORRECT_TELEMETRY_COMMAND, PATH_CRUISING_UNINITIALIZED_HOMEBASE };

// Struct contains the data that will be returned via telemetry to ground station
struct _CruisingState_Telemetry_Return {
    charuint8_t editingFlightPathErrorCode; // 0 = success, 1 = error, 2 = incorrect telemetry command
    charuint8_t pathFollowingErrorCode; // 0 = success, 1 = error, 2 = home base not initialized, 3 = incorrect telemetry command
    int currentWaypointId; 
    int currentWaypointIndex;
    bool homeBaseInitialized;
};

// The following functions are used to interact with the Waypoint Manager module
int**
 * Function performs any requested modifications on the flight path including appending, inserting, deleting, updating, initializing, and nuking 
 *
 * @param telemetryData        --> contains the most recent commands from telemetry
 * @param cruisingStateManager --> this is the waypointManager class object for the cruisingState 
 * @param idArray              --> an array of integers that is used to keep track of the ids of the waypoints in the flight path
 *
 * @return error code indicating success of operation
 */
_ModifyFlightPathErrorCode editFlightPath(Telemetry_PIGO_t * telemetryData, WaypointManager& cruisingStateManager, int * idArray);

/**
 * Function retrieves the next desired path for the aircraft
 *
 * @param telemetryData        --> contains the most recent commands from telemetry
 * @param cruisingStateManager --> this is the waypointManager class 
intobject for the cruisingState 
 * @param input                --> struct contains inputs required to calculate the desired path for the aircraft
 * @param output               --> struct collects the output data from the Waypoint Manager for use in other states 
 * @param goingHome            --> boolean flag that is used to indicate if we want to start/stop holding
 * @param inHold               --> boolean flag that is used to indicate if we want to start/stop heading back to our home base
 *
 * @return error code indicating success of operation
 */
_GetNextDirectionsErrorCode pathFollow(Telemetry_PIGO_t * telemetryData, WaypointManager& cruisingStateManager, _WaypointManager_Data_In input, _WaypointManager_Data_Out * output, bool& goingHome, bool& inHold);

void setReturnValues(/**
 * Function sets the _CruisingState_Telemetry_Return struct which will be sent to base via telemetry
 * 
 * @param _returnToGround, WaypointManager& cruisingStateManager, int editErrorCode, int pathErrorCode);

// The following functions are used to update the ID array that is a part of the CruisingState class
void appendNewElement(int * idArray, int newId);
int indexOfDesiredId(int * idArray, int id);
void insertNewElement(int * idArray, int prevId, int newId);
void updateElement(int * idArray, int oldid, int newId);
void removeElement(int * idArray, int id);
void clearArray(int * idArray --> contains the info we are sending back to telemetry
 * @param cruisingStateManager --> this is the waypointManager class object for the cruisingState 
 * @param editErrorCode        --> error code that was returned by editFlightPath() on previous call 
 * @param pathErrorCode        --> error code that was returned by pathFollow() on previous call
 */
void setReturnValues(_CruisingState_Telemetry_Return * _returnToGround, WaypointManager& cruisingStateManager, _ModifyFlightPathErrorCode editErrorCode, _GetNextDirectionsErrorCode pathErrorCode);

#endif