text: /****************************************************************************
   *
   *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #pragma once
  
  
  /*   Helper classes  */
  #include "Arming/PreFlightCheck/PreFlightCheck.hpp"
  #include "failure_detector/FailureDetector.hpp"
  #include "state_machine_helper.h"
  #include "worker_thread.hpp"
  
  #include <lib/controllib/blocks.hpp>
  #include <lib/hysteresis/hysteresis.h>
  #include <lib/mathlib/mathlib.h>
  #include <px4_platform_common/module.h>
  #include <px4_platform_common/module_params.h>
  
  // publications
  #include <uORB/Publication.hpp>
  #include <uORB/topics/actuator_armed.h>
  #include <uORB/topics/home_position.h>
  #include <uORB/topics/landing_gear.h>
  #include <uORB/topics/test_motor.h>
  #include <uORB/topics/vehicle_command_ack.h>
  #include <uORB/topics/vehicle_control_mode.h>
  #include <uORB/topics/vehicle_status.h>
  #include <uORB/topics/vehicle_status_flags.h>
  
  // subscriptions
  #include <uORB/Subscription.hpp>
  #include <uORB/SubscriptionMultiArray.hpp>
  #include <uORB/topics/actuator_controls.h>
  #include <uORB/topics/airspeed.h>
  #include <uORB/topics/battery_status.h>
  #include <uORB/topics/cpuload.h>
  #include <uORB/topics/distance_sensor.h>
  #include <uORB/topics/esc_status.h>
  #include <uORB/topics/estimator_selector_status.h>
  #include <uORB/topics/estimator_status.h>
  #include <uORB/topics/geofence_result.h>
  #include <uORB/topics/iridiumsbd_status.h>
  #include <uORB/topics/manual_control_setpoint.h>
  #include <uORB/topics/manual_control_switches.h>
  #include <uORB/topics/mission.h>
  #include <uORB/topics/mission_result.h>
  #include <uORB/topics/offboard_control_mode.h>
  #include <uORB/topics/parameter_update.h>
  #include <uORB/topics/power_button_state.h>
  #include <uORB/topics/rtl_flight_time.h>
  #include <uORB/topics/safety.h>
  #include <uORB/topics/system_power.h>
  #include <uORB/topics/telemetry_status.h>
  #include <uORB/topics/vehicle_acceleration.h>
  #include <uORB/topics/vehicle_command.h>
  #include <uORB/topics/vehicle_global_position.h>
  #include <uORB/topics/vehicle_land_detected.h>
  #include <uORB/topics/vehicle_local_position.h>
  #include <uORB/topics/vtol_vehicle_status.h>
  
  using math::constrain;
  using systemlib::Hysteresis;
  
  using namespace time_literals;
  
  class Commander : public ModuleBase<Commander>, public ModuleParams
  {
  public:
  	Commander();
  
  	/** @see ModuleBase */
  	static int task_spawn(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static Commander *instantiate(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static int custom_command(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static int print_usage(const char *reason = nullptr);
  
  	/** @see ModuleBase::run() */
  	void run() override;
  
  	/** @see ModuleBase::print_status() */
  	int print_status() override;
  
  	void enable_hil();
  
  	void get_circuit_breaker_params();
  
  private:
  	void answer_command(const vehicle_command_s &cmd, uint8_t result);
  
  	transition_result_t arm_disarm(bool arm, bool run_preflight_checks, arm_disarm_reason_t calling_reason);
  
  	void battery_status_check();
  
  	bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
  				   const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us,
  				   bool *valid_state);
  
  	void control_status_leds(bool changed, const uint8_t battery_warning);
  
  	/**
  	 * Checks the status of all available data links and handles switching between different system telemetry states.
  	 */
  	void data_link_check();
  
  	void avoidance_check();
  
  	void esc_status_check(const esc_status_s &esc_status);
  
  	void estimator_check();
  
  	bool handle_command(const vehicle_command_s &cmd);
  
  	unsigned handle_command_motor_test(const vehicle_command_s &cmd);
  
  	void mission_init();
  
  	void offboard_control_update();
  
  	void print_reject_arm(const char *msg);
  	void print_reject_mode(const char *msg);
  
  	void reset_posvel_validity();
  
  	bool set_home_position();
  	bool set_home_position_alt_only();
  	bool set_in_air_home_position();
  	bool isGPosGoodForInitializingHomePos(const vehicle_global_position_s &gpos) const;
  	void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos) const;
  	void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading) const;
  	void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos) const;
  	void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt) const;
  	void setHomePosValid();
  	void updateHomePositionYaw(float yaw);
  
  	void update_control_mode();
  
  	void UpdateEstimateValidity();
  
  	// Set the main system state based on RC and override device inputs
  	transition_result_t set_main_state(bool *changed);
  
  	// Enable override (manual reversion mode) on the system
  	transition_result_t set_main_state_override_on(bool *changed);
  
  	// Set the system main state based on the current RC inputs
  	transition_result_t set_main_state_rc();
  
  	bool shutdown_if_allowed();
  
  	bool stabilization_required();
  
  	DEFINE_PARAMETERS(
  
  		(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
  		(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
  
  		(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
  		(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
  
  		(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
  		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
  
  		(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
  		(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
  		(ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air,
  
  		(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
  		(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, 	/*Not realy used for now*/
  		(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
  		(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl,	/* failsafe response to loss of navigation accuracy */
  
  		(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
  		(ParamInt<px4::params::COM_POS_FS_PROB>) _param_com_pos_fs_prob,
  		(ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
  
  		(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
  		(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
  		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
  
  		(ParamBool<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
  
  		(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
  
  		// Offboard
  		(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
  		(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
  		(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
  
  		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
  		(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
  
  		(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
  		(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
  
  		// Engine failure
  		(ParamFloat<px4::params::COM_EF_THROT>) _param_ef_throttle_thres,
  		(ParamFloat<px4::params::COM_EF_C2T>) _param_ef_current2throttle_thres,
  		(ParamFloat<px4::params::COM_EF_TIME>) _param_ef_time_thres,
  
  		(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_arm_without_gps,
  		(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_arm_switch_is_button,
  		(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
  		(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
  		(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
  		(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
  
  		(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
  		(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
  
  		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
  		(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
  		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
  		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
  
  		(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
  		(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
  		(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
  		(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
  		(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
  		(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
  
  		// Circuit breakers
  		(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
  		(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
  		(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
  		(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
  		(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
  		(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
  		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
  
  		// Geofrence
  		(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
  
  		// Mavlink
  		(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
  		(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
  		(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
  
  		(ParamFloat<px4::params::CP_DIST>) _param_cp_dist,
  
  		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
  		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr
  	)
  
  	enum class PrearmedMode {
  		DISABLED = 0,
  		SAFETY_BUTTON = 1,
  		ALWAYS = 2
  	};
  
  	enum OverrideMode {
  		OVERRIDE_DISABLED = 0,
  		OVERRIDE_AUTO_MODE_BIT = (1 << 0),
  		OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1)
  	};
  
  	/* Decouple update interval and hysteresis counters, all depends on intervals */
  	static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
  	static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};
  
  	static constexpr float STICK_ON_OFF_LIMIT{0.9f};
  
  	static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s};	/**< wait for hotplug sensors to come online for upto 8 seconds */
  	static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms};
  	static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms};
  
  	const int64_t POSVEL_PROBATION_MIN = 1_s;	/**< minimum probation duration (usec) */
  	const int64_t POSVEL_PROBATION_MAX = 100_s;	/**< maximum probation duration (usec) */
  
  	PreFlightCheck::arm_requirements_t	_arm_requirements{};
  
  	hrt_abstime	_valid_distance_sensor_time_us{0}; /**< Last time that distance sensor data arrived (usec) */
  
  	hrt_abstime	_last_gpos_fail_time_us{0};	/**< Last time that the global position validity recovery check failed (usec) */
  	hrt_abstime	_last_lpos_fail_time_us{0};	/**< Last time that the local position validity recovery check failed (usec) */
  	hrt_abstime	_last_lvel_fail_time_us{0};	/**< Last time that the local velocity validity recovery check failed (usec) */
  
  	// Probation times for position and velocity validity checks to pass if failed
  	hrt_abstime	_gpos_probation_time_us = POSVEL_PROBATION_MIN;
  	hrt_abstime	_lpos_probation_time_us = POSVEL_PROBATION_MIN;
  	hrt_abstime	_lvel_probation_time_us = POSVEL_PROBATION_MIN;
  
  	/* class variables used to check for navigation failure after takeoff */
  	hrt_abstime	_time_last_innov_pass{0};	/**< last time velocity or position innovations passed */
  	bool		_nav_test_passed{false};	/**< true if the post takeoff navigation test has passed */
  	bool		_nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */
  
  	bool		_geofence_loiter_on{false};
  	bool		_geofence_rtl_on{false};
  	bool		_geofence_land_on{false};
  	bool		_geofence_warning_action_on{false};
  	bool		_geofence_violated_prev{false};
  
  	FailureDetector	_failure_detector;
  	bool		_flight_termination_triggered{false};
  	bool		_lockdown_triggered{false};
  
  
  	hrt_abstime	_datalink_last_heartbeat_gcs{0};
  	hrt_abstime	_datalink_last_heartbeat_avoidance_system{0};
  	hrt_abstime	_datalink_last_heartbeat_onboard_controller{0};
  	bool		_onboard_controller_lost{false};
  	bool		_avoidance_system_lost{false};
  
  	hrt_abstime	_high_latency_datalink_heartbeat{0};
  	hrt_abstime	_high_latency_datalink_lost{0};
  
  	int		_last_esc_online_flags{-1};
  
  	uint8_t		_battery_warning{battery_status_s::BATTERY_WARNING_NONE};
  	float		_battery_current{0.0f};
  
  	Hysteresis	_auto_disarm_landed{false};
  	Hysteresis	_auto_disarm_killed{false};
  	Hysteresis	_offboard_available{false};
  
  	hrt_abstime	_last_print_mode_reject_time{0};	///< To remember when last notification was sent
  
  	bool		_last_condition_local_altitude_valid{false};
  	bool		_last_condition_local_position_valid{false};
  	bool		_last_condition_global_position_valid{false};
  
  	bool		_last_overload{false};
  
  	unsigned int	_leds_counter{0};
  
  	manual_control_setpoint_s _manual_control_setpoint{};		///< the current manual control setpoint
  	manual_control_switches_s _manual_control_switches{};
  	manual_control_switches_s _last_manual_control_switches{};
  	hrt_abstime	_rc_signal_lost_timestamp{0};		///< Time at which the RC reception was lost
  	int32_t		_flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
  	uint8_t		_last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
  	uint32_t	_stick_off_counter{0};
  	uint32_t	_stick_on_counter{0};
  
  	hrt_abstime	_boot_timestamp{0};
  	hrt_abstime	_last_disarmed_timestamp{0};
  	hrt_abstime	_timestamp_engine_healthy{0}; ///< absolute time when engine was healty
  	hrt_abstime	_overload_start{0};		///< time when CPU overload started
  
  	uint32_t	_counter{0};
  	uint8_t		_heading_reset_counter{0};
  
  	bool		_status_changed{true};
  	bool		_arm_tune_played{false};
  	bool		_was_armed{false};
  	bool		_failsafe_old{false};	///< check which state machines for changes, clear "changed" flag
  	bool		_have_taken_off_since_arming{false};
  	bool		_should_set_home_on_takeoff{true};
  	bool		_flight_termination_printed{false};
  	bool		_system_power_usb_connected{false};
  
  	main_state_t	_main_state_pre_offboard{commander_state_s::MAIN_STATE_MANUAL};
  
  	actuator_armed_s	_armed{};
  	commander_state_s	_internal_state{};
  	cpuload_s		_cpuload{};
  	geofence_result_s	_geofence_result{};
  	vehicle_land_detected_s	_land_detector{};
  	safety_s		_safety{};
  	vehicle_status_s	_status{};
  	vehicle_status_flags_s	_status_flags{};
  	vtol_vehicle_status_s	_vtol_status{};
  
  	WorkerThread _worker_thread;
  
  	// Subscriptions
  	uORB::Subscription					_actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
  	uORB::Subscription					_cmd_sub {ORB_ID(vehicle_command)};
  	uORB::Subscription					_cpuload_sub{ORB_ID(cpuload)};
  	uORB::Subscription					_esc_status_sub{ORB_ID(esc_status)};
  	uORB::Subscription                                      _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
  	uORB::Subscription					_geofence_result_sub{ORB_ID(geofence_result)};
  	uORB::Subscription					_iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
  	uORB::Subscription					_land_detector_sub{ORB_ID(vehicle_land_detected)};
  	uORB::Subscription					_safety_sub{ORB_ID(safety)};
  	uORB::Subscription					_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
  	uORB::Subscription					_manual_control_switches_sub{ORB_ID(manual_control_switches)};
  	uORB::Subscription					_system_power_sub{ORB_ID(system_power)};
  	uORB::Subscription					_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
  	uORB::Subscription					_vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
  
  	uORB::SubscriptionInterval				_parameter_update_sub{ORB_ID(parameter_update), 1_s};
  
  	uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
  	uORB::SubscriptionMultiArray<distance_sensor_s>         _distance_sensor_subs{ORB_ID::distance_sensor};
  	uORB::SubscriptionMultiArray<telemetry_status_s>        _telemetry_status_subs{ORB_ID::telemetry_status};
  
  #if defined(BOARD_HAS_POWER_CONTROL)
  	uORB::Subscription					_power_button_state_sub {ORB_ID(power_button_state)};
  #endif // BOARD_HAS_POWER_CONTROL
  
  	uORB::SubscriptionData<airspeed_s>			_airspeed_sub{ORB_ID(airspeed)};
  	uORB::SubscriptionData<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
  	uORB::SubscriptionData<mission_result_s>		_mission_result_sub{ORB_ID(mission_result)};
  	uORB::SubscriptionData<offboard_control_mode_s>		_offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
  	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
  	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
  	uORB::SubscriptionData<rtl_flight_time_s>		_rtl_flight_time_sub{ORB_ID(rtl_flight_time)};
  
  	// Publications
  	uORB::Publication<actuator_armed_s>			_armed_pub{ORB_ID(actuator_armed)};
  	uORB::Publication<commander_state_s>			_commander_state_pub{ORB_ID(commander_state)};
  	uORB::Publication<test_motor_s>				_test_motor_pub{ORB_ID(test_motor)};
  	uORB::Publication<vehicle_control_mode_s>		_control_mode_pub{ORB_ID(vehicle_control_mode)};
  	uORB::Publication<vehicle_status_flags_s>		_vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
  	uORB::Publication<vehicle_status_s>			_status_pub{ORB_ID(vehicle_status)};
  	uORB::Publication<mission_s>				_mission_pub{ORB_ID(mission)};
  	uORB::Publication<landing_gear_s>			_landing_gear_pub{ORB_ID(landing_gear)};
  
  	uORB::PublicationData<home_position_s>			_home_pub{ORB_ID(home_position)};
  
  	uORB::Publication<vehicle_command_ack_s>		_command_ack_pub{ORB_ID(vehicle_command_ack)};
  
  	orb_advert_t _mavlink_log_pub{nullptr};
  };
  