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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
 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
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/**
 * @file HealthFlags.cpp
 *
 * Contains helper functions to efficiently set the system health flags from commander and preflight check.
 *
 * @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
 */

#include "HealthFlags.h"

void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
{
	PX4_DEBUG("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);

	if (present) {
		status.onboard_control_sensors_present |= (uint32_t)subsystem_type;

	} else {
		status.onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
	}

	if (enabled) {
		status.onboard_control_sensors_enabled |= (uint32_t)subsystem_type;

	} else {
		status.onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
	}

	if (ok) {
		status.onboard_control_sensors_health |= (uint32_t)subsystem_type;

	} else {
		status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
	}
}

void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status)
{
	set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy,
			 status);
}

void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
{
	set_health_flags(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type,
			 status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status);
}