bizhang_-obav/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp

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/**
 * @file PreFlightCheck.hpp
 *
 * Check if flight is safely possible
 * if not prevent it and inform the user.
 */

#pragma once

#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_status_flags.h>

#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>

class PreFlightCheck
{
public:
	PreFlightCheck() = default;
	~PreFlightCheck() = default;

	/**
	* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
	*
	* The function won't fail the test if optional sensors are not found, however,
	* it will fail the test if optional sensors are found but not in working condition.
	*
	* @param mavlink_log_pub
	*   Mavlink output orb handle reference for feedback when a sensor fails
	* @param checkMag
	*   true if the magneteometer should be checked
	* @param checkAcc
	*   true if the accelerometers should be checked
	* @param checkGyro
	*   true if the gyroscopes should be checked
	* @param checkBaro
	*   true if the barometer should be checked
	* @param checkAirspeed
	*   true if the airspeed sensor should be checked
	* @param checkRC
	*   true if the Remote Controller should be checked
	* @param checkGNSS
	*   true if the GNSS receiver should be checked
	* @param checkPower
	*   true if the system power should be checked
	**/
	static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
				   vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm,
				   const hrt_abstime &time_since_boot);

	struct arm_requirements_t {
		bool arm_authorization = false;
		bool esc_check = false;
		bool global_position = false;
		bool mission = false;
	};

	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
				const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
				bool report_fail = true);

private:
	static bool magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
				      const bool optional, int32_t &device_id, const bool report_fail);
	static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
	static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
				       const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail);
	static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
			      const bool optional, int32_t &device_id, const bool report_fail);
	static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
			      const bool optional, int32_t &device_id, const bool report_fail);
	static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
	static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
				  const bool report_fail, const bool prearm);
	static int rcCalibrationCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool isVTOL);
	static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
			       const bool prearm);
	static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
			      const bool report_fail, const bool enforce_gps_required);

	static bool ekf2CheckStates(orb_advert_t *mavlink_log_pub, const bool report_fail);

	static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
					 const bool prearm);

	static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
	static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
	static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
};