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#include "../PreFlightCheck.hpp"

#include <HealthFlags.h>
#include <math.h>
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>

using namespace time_literals;

bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
			       const bool report_fail)
{
	bool success = true; // start with a pass and change to a fail if any test fails

	int32_t mag_strength_check_enabled = 1;
	param_get(param_find("COM_ARM_MAG_STR"), &mag_strength_check_enabled);

	float hgt_test_ratio_limit = 1.f;
	param_get(param_find("COM_ARM_EKF_HGT"), &hgt_test_ratio_limit);

	float vel_test_ratio_limit = 1.f;
	param_get(param_find("COM_ARM_EKF_VEL"), &vel_test_ratio_limit);

	float pos_test_ratio_limit = 1.f;
	param_get(param_find("COM_ARM_EKF_POS"), &pos_test_ratio_limit);

	float mag_test_ratio_limit = 1.f;
	param_get(param_find("COM_ARM_EKF_YAW"), &mag_test_ratio_limit);

	int32_t arm_without_gps = 0;
	param_get(param_find("COM_ARM_WO_GPS"), &arm_without_gps);

	bool gps_success = true;
	bool gps_present = true;

	// Get estimator status data if available and exit with a fail recorded if not
	uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
	uORB::SubscriptionData<estimator_status_s> status_sub{ORB_ID(estimator_status), estimator_selector_status_sub.get().primary_instance};
	const estimator_status_s &status = status_sub.get();

	if (status.timestamp == 0) {
		success = false;
		goto out;
	}

	// Check if preflight check performed by estimator has failed
	if (status.pre_flt_fail_innov_heading ||
	    status.pre_flt_fail_innov_vel_horiz ||
	    status.pre_flt_fail_innov_vel_vert ||
	    status.pre_flt_fail_innov_height) {
		if (report_fail) {
			if (status.pre_flt_fail_innov_heading) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: heading estimate not stable");

			} else if (status.pre_flt_fail_innov_vel_horiz) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: horizontal velocity estimate not stable");

			} else if (status.pre_flt_fail_innov_vel_vert) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: vertical velocity estimate not stable");

			} else if (status.pre_flt_fail_innov_height) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: height estimate not stable");
			}
		}

		success = false;
		goto out;
	}

	if ((mag_strength_check_enabled == 1) && status.pre_flt_fail_mag_field_disturbed) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: strong magnetic interference detected");
		}

		success = false;
		goto out;
	}

	// check vertical position innovation test ratio
	if (status.hgt_test_ratio > hgt_test_ratio_limit) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Height estimate error");
		}

		success = false;
		goto out;
	}

	// check velocity innovation test ratio
	if (status.vel_test_ratio > vel_test_ratio_limit) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Velocity estimate error");
		}

		success = false;
		goto out;
	}

	// check horizontal position innovation test ratio
	if (status.pos_test_ratio > pos_test_ratio_limit) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Position estimate error");
		}

		success = false;
		goto out;
	}

	// check magnetometer innovation test ratio
	if (status.mag_test_ratio > mag_test_ratio_limit) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Yaw estimate error");
		}

		success = false;
		goto out;
	}

	// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
	{
		const bool ekf_gps_fusion = status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
		const bool ekf_gps_check_fail = status.gps_check_fail_flags > 0;

		gps_success = ekf_gps_fusion; // default to success if gps data is fused

		if (ekf_gps_check_fail) {
			if (report_fail) {
				// Only report the first failure to avoid spamming
				const char *message = nullptr;

				if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_GPS_FIX)) {
					message = "Preflight%s: GPS fix too low";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) {
					message = "Preflight%s: not enough GPS Satellites";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_PDOP)) {
					message = "Preflight%s: GPS PDOP too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) {
					message = "Preflight%s: GPS Horizontal Pos Error too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_ERR)) {
					message = "Preflight%s: GPS Vertical Pos Error too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_SPD_ERR)) {
					message = "Preflight%s: GPS Speed Accuracy too low";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_DRIFT)) {
					message = "Preflight%s: GPS Horizontal Pos Drift too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_DRIFT)) {
					message = "Preflight%s: GPS Vertical Pos Drift too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR)) {
					message = "Preflight%s: GPS Hor Speed Drift too high";

				} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_SPD_ERR)) {
					message = "Preflight%s: GPS Vert Speed Drift too high";

				} else {
					if (!ekf_gps_fusion) {
						// Likely cause unknown
						message = "Preflight%s: Estimator not using GPS";
						gps_present = false;

					} else {
						// if we land here there was a new flag added and the code not updated. Show a generic message.
						message = "Preflight%s: Poor GPS Quality";
					}
				}

				if (message) {
					if (!arm_without_gps) {
						mavlink_log_critical(mavlink_log_pub, message, " Fail");

					} else {
						mavlink_log_warning(mavlink_log_pub, message, "");
					}
				}
			}

			gps_success = false;

			if (!arm_without_gps) {
				success = false;
				goto out;
			}
		}
	}

out:
	set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GPS, gps_present, !arm_without_gps, gps_success, vehicle_status);
	return success;
}

bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail)
{
	// Get estimator states data if available and exit with a fail recorded if not
	uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
	uORB::SubscriptionData<estimator_sensor_bias_s> estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias), estimator_selector_status_sub.get().primary_instance};
	const estimator_sensor_bias_s &bias = estimator_sensor_bias_sub.get();

	if (hrt_elapsed_time(&bias.timestamp) < 30_s) {

		// check accelerometer bias estimates
		if (bias.accel_bias_valid) {
			const float ekf_ab_test_limit = 0.75f * bias.accel_bias_limit;

			for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
				// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
				// adjust test threshold by 3-sigma
				const float test_uncertainty = 3.0f * sqrtf(fmaxf(bias.accel_bias_variance[axis_index], 0.0f));

				if (fabsf(bias.accel_bias[axis_index]) > ekf_ab_test_limit + test_uncertainty) {
					if (report_fail) {
						PX4_ERR("accel bias (axis %d): |%.8f| > %.8f + %.8f", axis_index,
							(double)bias.accel_bias[axis_index], (double)ekf_ab_test_limit, (double)test_uncertainty);
						mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");
					}

					return false;
				}
			}
		}

		// check gyro bias estimates
		if (bias.gyro_bias_valid) {
			const float ekf_gb_test_limit = 0.75f * bias.gyro_bias_limit;

			for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
				// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
				// adjust test threshold by 3-sigma
				const float test_uncertainty = 3.0f * sqrtf(fmaxf(bias.gyro_bias_variance[axis_index], 0.0f));

				if (fabsf(bias.gyro_bias[axis_index]) > ekf_gb_test_limit + test_uncertainty) {
					if (report_fail) {
						PX4_ERR("gyro bias (axis %d): |%.8f| > %.8f + %.8f", axis_index,
							(double)bias.gyro_bias[axis_index], (double)ekf_gb_test_limit, (double)test_uncertainty);
						mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Gyro Bias");
					}

					return false;
				}
			}
		}
	}

	return true;
}