/****************************************************************************
 *
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 * modification, are permitted provided that the following conditions
 * are met:
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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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 *    used to endorse or promote products derived from this software
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#pragma once

#include "../Common.hpp"

#include <uORB/Subscription.hpp>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/estimator_status_flags.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/sensor_gps.h>

#include <lib/hysteresis/hysteresis.h>

using namespace time_literals;

class EstimatorChecks : public HealthAndArmingCheckBase
{
public:
	EstimatorChecks();
	~EstimatorChecks() = default;

	void checkAndReport(const Context &context, Report &reporter) override;

private:
	void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
				  NavModes required_groups);
	void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
	void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
				       const vehicle_local_position_s &lpos);

	void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
	void gpsNoLongerValid(const Context &context, Report &reporter) const;
	void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
				     const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position,
				     vehicle_status_flags_s &failsafe_flags);

	bool checkPosVelValidity(const hrt_abstime &now, const bool data_valid, const float data_accuracy,
				 const float required_accuracy,
				 const hrt_abstime &data_timestamp_us, hrt_abstime &last_fail_time_us,
				 const bool was_valid) const;


	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
	uORB::Subscription _estimator_status_flags_sub{ORB_ID(estimator_status_flags)};
	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};

	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};

	hrt_abstime	_last_gpos_fail_time_us{0};	///< Last time that the global position validity recovery check failed (usec)
	hrt_abstime	_last_lpos_fail_time_us{0};	///< Last time that the local position validity recovery check failed (usec)
	hrt_abstime	_last_lpos_relaxed_fail_time_us{0};	///< Last time that the relaxed local position validity recovery check failed (usec)
	hrt_abstime	_last_lvel_fail_time_us{0};	///< Last time that the local velocity validity recovery check failed (usec)

	// variables used to check for navigation failure after takeoff
	hrt_abstime	_time_last_innov_pass{0};	///< last time velocity and position innovations passed
	hrt_abstime	_time_last_innov_fail{0};	///< last time velocity and position innovations failed
	bool		_nav_test_passed{false};	///< true if the post takeoff navigation test has passed
	bool		_nav_test_failed{false};	///< true if the post takeoff navigation test has failed

	static constexpr hrt_abstime GPS_VALID_TIME{3_s};
	systemlib::Hysteresis _vehicle_gps_position_valid{false};

	bool _position_reliant_on_optical_flow{false};

	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
					(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
					(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
					(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
					(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,
					(ParamFloat<px4::params::COM_ARM_EKF_VEL>) _param_com_arm_ekf_vel,
					(ParamFloat<px4::params::COM_ARM_EKF_POS>) _param_com_arm_ekf_pos,
					(ParamFloat<px4::params::COM_ARM_EKF_YAW>) _param_com_arm_ekf_yaw,
					(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
					(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
					(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
					(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
					(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
					(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay
				       )
};