/****************************************************************************
 *
 *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 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.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#include "geofenceCheck.hpp"

void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
{
	geofence_result_s geofence_result;

	if (!_geofence_result_sub.copy(&geofence_result)) {
		geofence_result = {};
	}

	const bool any_geofence_triggered = geofence_result.geofence_max_dist_triggered ||
					    geofence_result.geofence_max_alt_triggered ||
					    geofence_result.geofence_custom_fence_triggered;

	reporter.failsafeFlags().geofence_breached = any_geofence_triggered;

	if (geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE && any_geofence_triggered) {

		if (geofence_result.geofence_max_dist_triggered) {
			/* EVENT
			* @description
			* <profile name="dev">
			* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_HOR_DIST</param> parameters.
			* </profile>
			*/
			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
						    events::ID("check_gf_violation_max_hor_dist"),
						    events::Log::Error, "Geofence violation: exceeding maximum distance to Home");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum distance to Home");
			}
		}

		if (geofence_result.geofence_max_alt_triggered) {
			/* EVENT
			* @description
			* <profile name="dev">
			* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_VER_DIST</param> parameters.
			* </profile>
			*/
			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
						    events::ID("check_gf_violation_max_alt"),
						    events::Log::Error, "Geofence violation: exceeding maximum altitude above Home");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum altitude above Home");
			}
		}

		if (geofence_result.geofence_custom_fence_triggered) {
			/* EVENT
			* @description
			* <profile name="dev">
			* This check can be configured via <param>GF_ACTION</param> parameter.
			* </profile>
			*/
			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
						    events::ID("check_gf_violation_custom_gf"),
						    events::Log::Error, "Geofence violation: approaching or outside geofence");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: approaching or outside geofence");
			}
		}
	}

	if (geofence_result.geofence_action == geofence_result_s::GF_ACTION_RTL
	    && reporter.failsafeFlags().home_position_invalid) {
		/* EVENT
		 * @description
		 * <profile name="dev">
		 * This check can be configured via <param>GF_ACTION</param> parameter.
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_gf_no_home"),
					    events::Log::Error, "Geofence RTL requires valid home");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence RTL requires valid home");
		}
	}
}