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#include "rcAndDataLinkCheck.hpp"

using namespace time_literals;

void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
{
	// RC
	bool rc_is_optional = true;

	if (_param_com_rc_in_mode.get() == 4) { // RC disabled
		reporter.failsafeFlags().manual_control_signal_lost = false;

	} else {

		manual_control_setpoint_s manual_control_setpoint;

		if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
			manual_control_setpoint = {};
			reporter.failsafeFlags().manual_control_signal_lost = true;
		}

		// Check if RC is valid
		if (!manual_control_setpoint.valid
		    || hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {

			if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {

				events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
					     "Manual control lost");
			}

			reporter.failsafeFlags().manual_control_signal_lost = true;

		} else {
			reporter.setIsPresent(health_component_t::remote_control);

			if (reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) {
				float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
				events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
						    "Manual control regained after {1:.1} s", elapsed);
			}

			reporter.failsafeFlags().manual_control_signal_lost = false;
			_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
		}


		if (reporter.failsafeFlags().manual_control_signal_lost) {

			NavModes affected_modes = rc_is_optional ? NavModes::None : NavModes::All;
			events::LogLevel log_level = rc_is_optional ? events::Log::Info : events::Log::Error;
			/* EVENT
			 * @description
			 * <profile name="dev">
			 * This check can be configured via <param>COM_RC_IN_MODE</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure(affected_modes, health_component_t::remote_control, events::ID("check_rc_dl_no_rc"),
						    log_level, "No manual control input");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: No manual control input\t");
			}
		}
	}

	// GCS connection
	reporter.failsafeFlags().gcs_connection_lost = context.status().gcs_connection_lost;

	if (reporter.failsafeFlags().gcs_connection_lost) {

		// Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests
		bool gcs_connection_required =  _param_nav_dll_act.get() > 0
						/*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */;
		NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None;
		events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info;
		/* EVENT
		 * @description
		 * To arm, at least a data link or manual control (RC) must be present.
		 *
		 * <profile name="dev">
		 * This check can be configured via <param>NAV_DLL_ACT</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(affected_modes, health_component_t::communication_links,
					    events::ID("check_rc_dl_no_dllink"),
					    log_level, "No connection to the ground control station");

		if (gcs_connection_required && reporter.mavlink_log_pub()) {
			mavlink_log_warning(reporter.mavlink_log_pub(), "Preflight Fail: No connection to the ground control station\t");
		}

	} else {
		reporter.setIsPresent(health_component_t::communication_links);
	}
}