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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
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 *    used to endorse or promote products derived from this software
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/**
 * @file CatapultLaunchMethod.cpp
 * Catapult Launch detection
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 *
 */

#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>

namespace launchdetection
{

CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
	SuperBlock(parent, "CAT"),
	last_timestamp(hrt_absolute_time()),
	integrator(0.0f),
	state(LAUNCHDETECTION_RES_NONE),
	thresholdAccel(this, "A"),
	thresholdTime(this, "T"),
	motorDelay(this, "MDEL"),
	pitchMaxPreThrottle(this, "PMAX")
{

}

CatapultLaunchMethod::~CatapultLaunchMethod() {

}

void CatapultLaunchMethod::update(float accel_x)
{
	float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
	last_timestamp = hrt_absolute_time();

	switch (state) {
	case LAUNCHDETECTION_RES_NONE:
		/* Detect a acceleration that is longer and stronger as the minimum given by the params */
		if (accel_x > thresholdAccel.get()) {
			integrator += dt;
			if (integrator > thresholdTime.get()) {
				if (motorDelay.get() > 0.0f) {
					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
					warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full"
							" throttle", (double)motorDelay.get());
				} else {
					/* No motor delay set: go directly to enablemotors state */
					state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
					warnx("Launch detected: state: enablemotors (delay not activated)");
				}
			}
		} else {
			/* reset */
			reset();
		}
		break;

	case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
		/* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is
		 * over to allow full throttle */
		motorDelayCounter += dt;
		if (motorDelayCounter > motorDelay.get()) {
			warnx("Launch detected: state enablemotors");
			state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
		}
		break;

	default:
		break;

	}

}

LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
{
	return state;
}


void CatapultLaunchMethod::reset()
{
	integrator = 0.0f;
	motorDelayCounter = 0.0f;
	state = LAUNCHDETECTION_RES_NONE;
}

float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) {
	/* If motor is turned on do not impose the extra limit on maximum pitch */
	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
		return pitchMaxDefault;
	} else {
		return pitchMaxPreThrottle.get();
	}

}

}