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#include "flightTimeCheck.hpp"

void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (_param_com_flt_time_max.get() > FLT_EPSILON && context.status().takeoff_time != 0 &&
	    (hrt_absolute_time() - context.status().takeoff_time) > (1_s * _param_com_flt_time_max.get())) {
		reporter.failsafeFlags().flight_time_limit_exceeded = true;
		/* EVENT
		 * @description
		 * <profile name="dev">
		 * This check can be configured via <param>COM_FLT_TIME_MAX</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
					    events::ID("check_flight_time_limit"),
					    events::Log::Error, "Maximum flight time reached");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Maximum flight time reached\t");
		}

	} else {
		reporter.failsafeFlags().flight_time_limit_exceeded = false;
	}

	// report warning when approaching max flight time
	if (!reporter.failsafeFlags().flight_time_limit_exceeded
	    && context.status().takeoff_time != 0
	    && _param_com_flt_time_max.get() > 0) {

		const float remaining_flight_time_sec = (context.status().takeoff_time < hrt_absolute_time()) ?
							_param_com_flt_time_max.get() - 1.e-6f * (hrt_absolute_time() - context.status().takeoff_time) :
							_param_com_flt_time_max.get();

		if (remaining_flight_time_sec < 0.1f * _param_com_flt_time_max.get()) {
			// send warnings every minute until RTL

			const int floored_remaining_flight_time_sec = int(remaining_flight_time_sec);

			if (floored_remaining_flight_time_sec <= 60 && _last_flight_time_warning_sec == -1) {
				// less than or equal to a minute remaining on first pass

				if (reporter.mavlink_log_pub()) {
					mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i seconds)\t",
							    floored_remaining_flight_time_sec);
				}

				/* EVENT
				* @description
				* Maximal flight time warning (less than 1min remaining)
				*/
				events::send<int16_t>(events::ID("commander_max_flight_time_warning_seconds"), events::Log::Warning,
						      "Approaching max flight time (system will RTL in {1} seconds)", floored_remaining_flight_time_sec);

			} else if ((floored_remaining_flight_time_sec % 60) == 0 && floored_remaining_flight_time_sec >= 60
				   && floored_remaining_flight_time_sec != _last_flight_time_warning_sec) {

				const int floored_remaining_flight_time_min = (int)(remaining_flight_time_sec * 0.016666667f);

				if (reporter.mavlink_log_pub()) {
					mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i minutes)\t",
							    floored_remaining_flight_time_min);
				}

				/* EVENT
				* @description
				* Maximal flight time warning (more than 1min remaining)
				*/
				events::send<int16_t>(events::ID("commander_max_flight_time_warning_minutes"), events::Log::Warning,
						      "Approaching max flight time (system will RTL in {1} minutes)", floored_remaining_flight_time_min);
			}

			_last_flight_time_warning_sec = floored_remaining_flight_time_sec;

		} else {
			_last_flight_time_warning_sec = -1; //reset if not in last 10%
		}

	} else {
		_last_flight_time_warning_sec = -1; //reset if not enabled, landed or currently already exceeded
	}
}