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#include "autopilot_tester_rtl.h"

// Exercises the RTL_DIRECT geofence avoidance planner (visibility graph + Dijkstra).
//
// Setup: mission flies the vehicle to a point from which the straight-line return-to-home would
// cut through an exclusion polygon. The planner must detour around it.
//
// Pass: the vehicle returns to home and disarms within the timeout AND its ground-truth position
// never violates any of the loaded geofences during the entire armed flight.
TEST_CASE("RTL direct with geofence obstruction", "[multicopter]")
{
	AutopilotTesterRtl tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();

	// Mission outbound leg ends at a point where straight-line RTL crosses the exclusion polygon
	// in the .plan; the planner must detour around it.
	tester.load_qgc_mission_and_geofence_here("test/mavsdk_tests/multicopter_mission_geofence_avoid.plan");

	// Warning only: the planner still picks up the fence (it reads polygon geometry independent of
	// GF_ACTION), but a hypothetical breach won't trigger Hold/RTL failsafe and mask test failure.
	tester.set_param_int("GF_ACTION", 1);

	tester.set_rtl_type(0); // RTL_DIRECT
	tester.set_rtl_appr_force(0);

	tester.sleep_for(std::chrono::seconds(3));

	tester.arm();

	// Latch a breach detector covering everything from here until disarm.
	tester.start_monitoring_geofence_breach();
	tester.execute_rtl_when_reaching_mission_sequence(3);

	tester.wait_until_disarmed(std::chrono::seconds(400));

	tester.check_no_geofence_breach();
	tester.check_home_within(5.0f);
}