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 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer in
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#include "airspeedCheck.hpp"
#include <lib/circuit_breaker/circuit_breaker.h>

using namespace time_literals;

AirspeedChecks::AirspeedChecks()
	: _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_trim_handle(param_find("FW_AIRSPD_TRIM"))
{
}

void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY) ||
	    (context.status().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !context.status().is_vtol)) {
		return;
	}

	int32_t airspeed_mode = 0;
	param_get(_param_fw_arsp_mode_handle, &airspeed_mode);
	const bool optional = (airspeed_mode == 1);

	airspeed_validated_s airspeed_validated;

	if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) {

		reporter.setIsPresent(health_component_t::differential_pressure);

		float airspeed_trim = 10.0f;
		param_get(_param_fw_airspd_trim_handle, &airspeed_trim);

		const float arming_max_airspeed_allowed = airspeed_trim / 2.0f; // set to half of trim airspeed

		/*
		 * Check if airspeed is declared valid or not by airspeed selector.
		 */
		if (!PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)) {

			/* EVENT
			 */
			reporter.healthFailure(NavModes::All, health_component_t::differential_pressure,
					       events::ID("check_airspeed_invalid"),
					       events::Log::Error, "Airspeed invalid");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed invalid");
			}
		}

		/*
		 * Check if airspeed is higher than maximally accepted while the vehicle is landed / not flying
		 * Negative and positive offsets are considered. This check is optional, because the pitot cover
		 * might have been removed before arming.
		 */
		if (!context.isArmed() && _param_com_arm_arsp_en.get()
		    && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
			/* EVENT
			 * @description
			 * Check the airspeed calibration and the pitot.
			 *
			 * <profile name="dev">
			 * Measured: {1:.1m/s}, limit: {2:.1m/s}.
			 *
			 * This check can be configured via <param>COM_ARM_ARSP_EN</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure<float, float>(NavModes::None, health_component_t::differential_pressure,
					events::ID("check_airspeed_too_high"),
					events::Log::Error, "Airspeed too high", airspeed_validated.calibrated_airspeed_m_s, arming_max_airspeed_allowed);

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check cal or pitot");
			}
		}

	} else if (!optional) {

		/* EVENT
		 * @description
		 * <profile name="dev">
		 * Most likely the airspeed selector module is not running.
		 * This check can be configured via <param>CBRK_AIRSPD_CHK</param> parameter.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::differential_pressure,
				       events::ID("check_airspeed_no_data"),
				       events::Log::Error, "No airspeed data");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed selector module down");
		}
	}

}