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#include "windCheck.hpp"

void WindChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (_param_com_wind_warn.get() < FLT_EPSILON && _param_com_wind_max.get() < FLT_EPSILON) {
		reporter.failsafeFlags().wind_limit_exceeded = false;
		return;
	}

	wind_s wind_estimate;
	const hrt_abstime now = hrt_absolute_time();

	if (_wind_sub.copy(&wind_estimate)) {
		const matrix::Vector2f wind(wind_estimate.windspeed_north, wind_estimate.windspeed_east);

		// publish a warning if it's the first since in air or 60s have passed since the last warning
		const bool warning_timeout_passed = _last_wind_warning == 0 || now - _last_wind_warning > 60_s;

		reporter.failsafeFlags().wind_limit_exceeded = _param_com_wind_max.get() > FLT_EPSILON
				&& wind.longerThan(_param_com_wind_max.get());

		if (reporter.failsafeFlags().wind_limit_exceeded) {

			/* EVENT
			 * @description
			 * <profile name="dev">
			 * This check can be configured via <param>COM_WIND_MAX</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure<float>(NavModes::All, health_component_t::system,
							   events::ID("check_wind_too_high"),
							   events::Log::Warning, "Wind speed is above limit ({1:.1m/s})", wind.norm());

		} else if (_param_com_wind_warn.get() > FLT_EPSILON
			   && wind.longerThan(_param_com_wind_warn.get())
			   && warning_timeout_passed
			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {

			events::send<float>(events::ID("check_high_wind_warning"),
			{events::Log::Warning, events::LogInternal::Info},
			"High wind speed detected ({1:.1m/s}), landing advised", wind.norm());
			_last_wind_warning = now;
		}
	}
}