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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
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
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#include "gyroCheck.hpp"

#include <lib/sensor_calibration/Utilities.hpp>

using namespace time_literals;

void GyroChecks::checkAndReport(const Context &context, Report &reporter)
{
	for (int instance = 0; instance < _sensor_gyro_sub.size(); instance++) {
		const bool is_required = instance == 0 || isGyroRequired(instance);

		if (!is_required) {
			continue;
		}

		const bool exists = _sensor_gyro_sub[instance].advertised();
		bool is_valid = false;
		bool is_calibration_valid = false;

		if (exists) {
			sensor_gyro_s gyro_data;
			is_valid = _sensor_gyro_sub[instance].copy(&gyro_data) && (gyro_data.device_id != 0) && (gyro_data.timestamp != 0)
				   && (hrt_elapsed_time(&gyro_data.timestamp) < 1_s);

			if (context.status().hil_state == vehicle_status_s::HIL_STATE_ON) {
				is_calibration_valid = true;

			} else {
				is_calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", gyro_data.device_id) >= 0);
			}

			reporter.setIsPresent(health_component_t::gyro);
		}

		const bool is_sensor_ok = is_valid && is_calibration_valid;

		if (!is_sensor_ok) {
			if (!exists) {
				/* EVENT
				 */
				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_missing"),
								events::Log::Error, "Gyro sensor {1} missing", instance);

				if (reporter.mavlink_log_pub()) {
					mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Gyro Sensor %u missing", instance);
				}

			} else if (!is_valid) {
				/* EVENT
				 */
				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_no_data"),
								events::Log::Error, "No valid data from Gyro {1}", instance);

				if (reporter.mavlink_log_pub()) {
					mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No valid data from Gyro %u", instance);
				}

			} else if (!is_calibration_valid) {
				/* EVENT
				 */
				reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_not_calibrated"),
								     events::Log::Error, "Gyro {1} uncalibrated", instance);

				if (reporter.mavlink_log_pub()) {
					mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Gyro %u uncalibrated", instance);
				}
			}
		}
	}
}

bool GyroChecks::isGyroRequired(int instance)
{
	sensor_gyro_s sensor_gyro;

	if (!_sensor_gyro_sub[instance].copy(&sensor_gyro)) {
		return false;
	}

	const uint32_t device_id = static_cast<uint32_t>(sensor_gyro.device_id);

	if (device_id == 0) {
		return false;
	}

	bool is_used_by_nav = false;

	for (int i = 0; i < _estimator_status_sub.size(); i++) {
		estimator_status_s estimator_status;

		if (_estimator_status_sub[i].copy(&estimator_status) && estimator_status.gyro_device_id == device_id) {
			is_used_by_nav = true;
			break;
		}
	}

	return is_used_by_nav;
}