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#include "offboardCheck.hpp"

using namespace time_literals;

void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
{
	reporter.failsafeFlags().offboard_control_signal_lost = true;

	offboard_control_mode_s offboard_control_mode;

	if (_offboard_control_mode_sub.copy(&offboard_control_mode)) {

		bool data_is_recent = hrt_absolute_time() < offboard_control_mode.timestamp
				      + static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s);

		bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity
					   || offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
					   || offboard_control_mode.actuator) && data_is_recent;

		if (offboard_control_mode.position && reporter.failsafeFlags().local_position_invalid) {
			offboard_available = false;

		} else if (offboard_control_mode.velocity && reporter.failsafeFlags().local_velocity_invalid) {
			offboard_available = false;

		} else if (offboard_control_mode.acceleration && reporter.failsafeFlags().local_velocity_invalid) {
			// OFFBOARD acceleration handled by position controller
			offboard_available = false;
		}

		// This is a mode requirement, no need to report
		reporter.failsafeFlags().offboard_control_signal_lost = !offboard_available;
	}
}