/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 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
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 ****************************************************************************/

/**
 * @file LaunchDetector.h
 * Auto Detection for different launch methods (e.g. catapult)
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#ifndef LAUNCHDETECTOR_H
#define LAUNCHDETECTOR_H

#include "LaunchMethod.h"
#include <px4_module_params.h>

namespace launchdetection
{

class __EXPORT LaunchDetector : public ModuleParams
{
public:
	LaunchDetector(ModuleParams *parent);
	~LaunchDetector() override;

	LaunchDetector(const LaunchDetector &) = delete;
	LaunchDetector operator=(const LaunchDetector &) = delete;

	void reset();

	void update(float accel_x);
	LaunchDetectionResult getLaunchDetected();
	bool launchDetectionEnabled() { return _launchdetection_on.get(); }

	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
	float getPitchMax(float pitchMaxDefault);

private:
	/* holds an index to the launchMethod in the array _launchMethods
	 * which detected a Launch. If no launchMethod has detected a launch yet the
	 * value is -1. Once one launchMethod has detected a launch only this
	 * method is checked for further advancing in the state machine
	 * (e.g. when to power up the motors)
	 */
	int _activeLaunchDetectionMethodIndex{-1};

	LaunchMethod *_launchMethods[1];

	DEFINE_PARAMETERS(
		(ParamBool<px4::params::LAUN_ALL_ON>) _launchdetection_on
	)
};

} // namespace launchdetection

#endif // LAUNCHDETECTOR_H
