#include "GCS_Rover.h"

#include "Rover.h"

#include <AP_RangeFinder/RangeFinder_Backend.h>

bool GCS_Rover::simple_input_active() const
{
    if (rover.control_mode != &rover.mode_simple) {
        return false;
    }
    return (rover.g2.simple_type == ModeSimple::Simple_InitialHeading);
}

bool GCS_Rover::supersimple_input_active() const
{
    if (rover.control_mode != &rover.mode_simple) {
        return false;
    }
    return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections);
}

// update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but
// not functioning correctly.
void GCS_Rover::update_sensor_status_flags(void)
{
    // default sensors present
    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;

    // first what sensors/controllers we have
    if (rover.g.compass_enabled) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
    }
    const AP_GPS &gps = AP::gps();
    if (gps.status() > AP_GPS::NO_GPS) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
    }
    const AP_VisualOdom *visual_odom = AP::visualodom();
    if (visual_odom && visual_odom->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
    const AP_Logger &logger = AP::logger();
    if (logger.logging_present()) {  // primary logging only (usually File)
        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
    }
    const AP_Proximity *proximity = AP_Proximity::get_singleton();
    if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
    }

    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
                                                         ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
                                                         ~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
                                                         ~MAV_SYS_STATUS_LOGGING &
                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
    if (rover.control_mode->attitude_stabilized()) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
    }
    if (rover.control_mode->is_autopilot_mode()) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
    }

    if (logger.logging_enabled()) {
        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
    }

    // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
    }

    const AP_BattMonitor &battery = AP::battery();
    if (battery.num_instances() > 0) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
    }

    AP_AHRS &ahrs = AP::ahrs();
    const Compass &compass = AP::compass();

    // default to all healthy except compass and gps which we set individually
    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
    if (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
    }
    if (gps.is_healthy()) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
    }
    if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
    const AP_InertialSensor &ins = AP::ins();
    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
    }
    if (!ins.get_accel_health_all()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
    }

    if (ahrs.initialised() && !ahrs.healthy()) {
        // AHRS subsystem is unhealthy
        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
    }

    const RangeFinder *rangefinder = RangeFinder::get_singleton();
    if (rangefinder && rangefinder->num_sensors() > 0) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        AP_RangeFinder_Backend *s = rangefinder->get_backend(0);
        if (s != nullptr && s->has_data()) {
            control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        }
    }
    if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
    }
    if (logger.logging_failed()) {
        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
    }

    if (!battery.healthy() || battery.has_failsafed()) {
        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
    }

    if (!rover.initialised || ins.calibrating()) {
        // while initialising the gyros and accels are not enabled
        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
    }
}