/****************************************************************************
 *
 *   Copyright (c) 2021 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 "sdcardCheck.hpp"
#include <dirent.h>
#include <string.h>

#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
#elif defined(PX4_STORAGEDIR)
#include <sys/statfs.h>
#endif

void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
{
#ifdef PX4_STORAGEDIR

	if (_param_com_arm_sdcard.get() > 0) {

		struct statfs statfs_buf;

		if (!_sdcard_detected && statfs(PX4_STORAGEDIR, &statfs_buf) == 0) {
			// on NuttX we get a data block count f_blocks and byte count per block f_bsize if an SD card is inserted
			_sdcard_detected = (statfs_buf.f_blocks > 0) && (statfs_buf.f_bsize > 0);
		}

		if (!_sdcard_detected) {
			NavModes affected_modes{NavModes::None};

			if (_param_com_arm_sdcard.get() == 2) {
				// disallow arming without sd card
				affected_modes = NavModes::All;
			}

			/* EVENT
			 * @description
			 * Insert an SD Card to the autopilot and reboot the system.
			 *
			 * <profile name="dev">
			 * This check can be configured via <param>COM_ARM_SDCARD</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure(affected_modes, health_component_t::system,
						    events::ID("check_missing_fmu_sdcard"),
						    events::Log::Error, "Missing FMU SD Card");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Missing FMU SD Card");
			}
		}
	}

#ifdef __PX4_NUTTX
	// Check for hardfault files

	if (!_hardfault_checked_once && _param_com_arm_hardfault_check.get()) {
		_hardfault_checked_once = true;

		DIR *dp = opendir(PX4_STORAGEDIR);

		if (dp != nullptr) {

			struct dirent *result;

			while ((result = readdir(dp)) && !_hardfault_file_present) {

				// Check for pattern fault_*.log
				if (strncmp("fault_", result->d_name, 6) == 0 && strcmp(result->d_name + strlen(result->d_name) - 4, ".log") == 0) {
					_hardfault_file_present = true;
				}
			}

			closedir(dp);
		}
	}

	if (_hardfault_file_present && _param_com_arm_hardfault_check.get()) {
		/* EVENT
		 * @description
		 * The SD card contains crash dump files, service the vehicle before continuing to fly.
		 *
		 * <profile name="dev">
		 * Check how to debug hardfaults on <a>https://docs.px4.io/main/en/debug/gdb_debugging.html#hard-fault-debugging</a>.
		 * When completed, remove the files 'fault_*.log' on the SD card.
		 *
		 * This check can be configured via <param>COM_ARM_HFLT_CHK</param> parameter.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::system,
				       events::ID("check_hardfault_present"),
				       events::Log::Error, "Crash dumps present on SD card");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Crash dumps present on SD");
		}
	}

#if CONFIG_MODULES_TASK_WATCHDOG
	// Check for task watchdog dump files

	if (!_watchdog_checked_once && _param_com_arm_hardfault_check.get()) {
		_watchdog_checked_once = true;

		DIR *wdp = opendir(PX4_STORAGEDIR "/task_watchdog");

		if (wdp != nullptr) {

			struct dirent *wresult;

			while ((wresult = readdir(wdp)) && !_watchdog_file_present) {

				// Check for pattern wdg_*.log or load_*.log
				const size_t len = strlen(wresult->d_name);

				if (len > 5 && strcmp(wresult->d_name + len - 4, ".log") == 0) {
					if (strncmp("wdg_", wresult->d_name, 4) == 0
					    || strncmp("load_", wresult->d_name, 5) == 0) {
						_watchdog_file_present = true;
					}
				}
			}

			closedir(wdp);
		}
	}

	if (_watchdog_file_present && _param_com_arm_hardfault_check.get()) {
		/* EVENT
		 * @description
		 * The SD card contains task watchdog dump files from a previous task starvation event.
		 *
		 * <profile name="dev">
		 * Remove the files in the 'task_watchdog' directory on the SD card after analysis.
		 *
		 * This check can be configured via <param>COM_ARM_HFLT_CHK</param> parameter.
		 * </profile>
		 */
		reporter.healthFailure(NavModes::All, health_component_t::system,
				       events::ID("check_task_watchdog_present"),
				       events::Log::Error, "Task watchdog dumps present on SD card");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Task watchdog dumps present on SD");
		}
	}

#endif /* CONFIG_MODULES_TASK_WATCHDOG */

#endif /* __PX4_NUTTX */
	// Check if SDLOG parameters are set to non-default values while SD card logging is disabled
	int32_t sdlog_backend = 0;
	param_get(_param_sdlog_backend, &sdlog_backend);
	const bool sdcard_logging_enabled = (sdlog_backend & 1) != 0;

	if (!sdcard_logging_enabled) {
		// Check if any SDLOG parameter differs from its default
		const param_t sdlog_params[] = {_param_sdlog_mode, _param_sdlog_profile, _param_sdlog_mission, _param_sdlog_dirs_max};
		bool sdlog_params_changed = false;

		for (auto p : sdlog_params) {
			int32_t val, def;

			if (param_get(p, &val) == 0 && param_get_default_value(p, &def) == 0 && val != def) {
				sdlog_params_changed = true;
				break;
			}
		}

		if (sdlog_params_changed) {

			/* EVENT
			 * @description
			 * SD logging parameters (SDLOG_*) have been modified, but SD card logging
			 * is not enabled in <param>SDLOG_BACKEND</param>.
			 *
			 * <profile name="dev">
			 * These parameters will have no effect.
			 * </profile>
			 */
			reporter.healthFailure(NavModes::None, health_component_t::logging,
					       events::ID("check_sdlog_params_no_sdcard"),
					       events::Log::Warning, "SDLOG parameters ineffective without SD card logging");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_warning(reporter.mavlink_log_pub(), "SDLOG parameters set but SD card logging disabled");
			}
		}
	}

#endif /* PX4_STORAGEDIR */
}