#include "GCS_Copter.h"

#include "Copter.h"

// 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_Copter::update_sensor_status_flags(void)
{
    // default sensors present
    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;

    // first what sensors/controllers we have
    if (copter.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;
    }
#if OPTFLOW == ENABLED
    const OpticalFlow *optflow = AP::opticalflow();
    if (optflow && optflow->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#endif
#if PRECISION_LANDING == ENABLED
    if (copter.precland.enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
    const AP_VisualOdom *visual_odom = AP::visualodom();
    if (visual_odom && visual_odom->enabled()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
#endif
    const Copter::ap_t &ap = copter.ap;

    if (ap.rc_receiver_present) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    }
    const AP_Logger &logger = AP::logger();
    if (logger.logging_present()) { // primary logging only (usually File)
        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
    }
#if PROXIMITY_ENABLED == ENABLED
    if (copter.g2.proximity.sensor_present()) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
    }
#endif
#if AC_FENCE == ENABLED
    if (copter.fence.sys_status_present()) {
        control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
    }
#endif
#if RANGEFINDER_ENABLED == ENABLED
    const RangeFinder *rangefinder = RangeFinder::get_singleton();
    if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
    }
#endif

    // all sensors are present except these, which may be set as enabled below:
    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
                                                         ~MAV_SYS_STATUS_LOGGING &
                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY &
                                                         ~MAV_SYS_STATUS_GEOFENCE &
                                                         ~MAV_SYS_STATUS_SENSOR_LASER_POSITION &
                                                         ~MAV_SYS_STATUS_SENSOR_PROXIMITY);

    switch (copter.control_mode) {
    case AUTO:
    case AVOID_ADSB:
    case GUIDED:
    case LOITER:
    case RTL:
    case CIRCLE:
    case LAND:
    case POSHOLD:
    case BRAKE:
    case THROW:
    case SMART_RTL:
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
        break;
    case ALT_HOLD:
    case GUIDED_NOGPS:
    case SPORT:
    case AUTOTUNE:
    case FLOWHOLD:
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
        break;
    default:
        // stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
        break;
    }

    // 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;
    }

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

    const AP_BattMonitor &battery = AP::battery();
    if (battery.num_instances() > 0) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
    }
#if AC_FENCE == ENABLED
    if (copter.fence.sys_status_enabled()) {
        control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
    }
#endif
#if PROXIMITY_ENABLED == ENABLED
    if (copter.g2.proximity.sensor_enabled()) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
    }
#endif


    // default to all healthy
    control_sensors_health = control_sensors_present;

    const AP_Baro &barometer = AP::baro();
    if (!barometer.all_healthy()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
    }
    AP_AHRS &ahrs = AP::ahrs();
    const Compass &compass = AP::compass();
    if (!copter.g.compass_enabled || !compass.healthy() || !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 (!ap.rc_receiver_present || copter.failsafe.radio) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    }
#if OPTFLOW == ENABLED
    if (!optflow || !optflow->healthy()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
    }
#endif
#if PRECISION_LANDING == ENABLED
    if (copter.precland.enabled() && !copter.precland.healthy()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
#endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED
    if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
    }
#endif
    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;
    }

    if (logger.logging_failed()) {
        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
    }

#if PROXIMITY_ENABLED == ENABLED
    if (copter.g2.proximity.sensor_failed()) {
        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_PROXIMITY;
    }
#endif

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    switch (copter.terrain.status()) {
    case AP_Terrain::TerrainStatusDisabled:
        break;
    case AP_Terrain::TerrainStatusUnhealthy:
        // To-Do: restore unhealthy terrain status reporting once terrain is used in copter
        //control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
        //control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
        //break;
    case AP_Terrain::TerrainStatusOK:
        control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
        control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
        control_sensors_health  |= MAV_SYS_STATUS_TERRAIN;
        break;
    }
#endif

#if RANGEFINDER_ENABLED == ENABLED
    if (copter.rangefinder_state.enabled) {
        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        if (!rangefinder || !rangefinder->has_data_orient(ROTATION_PITCH_270)) {
            control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
        }
    }
#endif

    if (!ap.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);
    }

    if (!copter.battery.healthy() || copter.battery.has_failsafed()) {
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
    }
#if AC_FENCE == ENABLED
    if (copter.fence.sys_status_failed()) {
        control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
    }
#endif

#if FRSKY_TELEM_ENABLED == ENABLED
    // give mask of error flags to Frsky_Telemetry
    copter.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}