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/**
* @file FailureDetector.hpp
* Base class for failure detection logic based on vehicle states
* for failsafe triggering.
*
* @author Mathieu Bresciani 	<brescianimathieu@gmail.com>
*
*/

#pragma once

#include <matrix/matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <px4_platform_common/module_params.h>
#include <hysteresis/hysteresis.h>


// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/pwm_input.h>

typedef enum {
	FAILURE_NONE = vehicle_status_s::FAILURE_NONE,
	FAILURE_ROLL = vehicle_status_s::FAILURE_ROLL,
	FAILURE_PITCH = vehicle_status_s::FAILURE_PITCH,
	FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
	FAILURE_EXT = vehicle_status_s::FAILURE_EXT,
	FAILURE_ARM_ESCS = vehicle_status_s::FAILURE_ARM_ESC
} failure_detector_bitmak;

using uORB::SubscriptionData;

class FailureDetector : public ModuleParams
{
public:
	FailureDetector(ModuleParams *parent);

	bool update(const vehicle_status_s &vehicle_status);

	uint8_t getStatus() const { return _status; }
	bool isFailure() const { return _status != FAILURE_NONE; }

private:
	void resetAttitudeStatus();
	bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
	void updateAttitudeStatus();
	void updateExternalAtsStatus();
	void updateEscsStatus(const vehicle_status_s &vehicle_status);

	uint8_t _status{FAILURE_NONE};

	systemlib::Hysteresis _roll_failure_hysteresis{false};
	systemlib::Hysteresis _pitch_failure_hysteresis{false};
	systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
	systemlib::Hysteresis _esc_failure_hysteresis{false};

	uORB::Subscription _vehicule_attitude_sub{ORB_ID(vehicle_attitude)};
	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
	uORB::Subscription _pwm_input_sub{ORB_ID(pwm_input)};

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
		(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
		(ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
		(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
		(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
		(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
		(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en
	)
};