/****************************************************************************
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 *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
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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.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include "HealthAndArmingChecks.hpp"

HealthAndArmingChecks::HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags,
		vehicle_status_s &status)
	: ModuleParams(parent),
	  _context(status),
	  _reporter(status_flags)
{
}

bool HealthAndArmingChecks::update(bool force_reporting)
{
	_reporter.reset();

	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
		if (!_checks[i]) {
			break;
		}

		_checks[i]->checkAndReport(_context, _reporter);
	}

	_reporter.finalize();

	if (_reporter.report(_context.isArmed(), force_reporting)) {

		// LEGACY start
		// Run the checks again, this time with the mavlink publication set.
		// We don't expect any change, and rate limitation would prevent the events from being reported again,
		// so we only report mavlink_log_*.
		_reporter._mavlink_log_pub = &_mavlink_log_pub;
		_reporter.reset();

		for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
			if (!_checks[i]) {
				break;
			}

			_checks[i]->checkAndReport(_context, _reporter);
		}

		_reporter.finalize();
		_reporter.report(_context.isArmed(), false);
		_reporter._mavlink_log_pub = nullptr;
		// LEGACY end

		health_report_s health_report;
		_reporter.getHealthReport(health_report);
		health_report.timestamp = hrt_absolute_time();
		_health_report_pub.publish(health_report);
		return true;
	}

	return false;
}

void HealthAndArmingChecks::updateParams()
{
	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
		if (!_checks[i]) {
			break;
		}

		_checks[i]->updateParams();
	}
}