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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file launchDetection.cpp
 * Auto Detection for different launch methods (e.g. catapult)
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

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

namespace launchdetection
{

LaunchDetector::LaunchDetector() :
	SuperBlock(NULL, "LAUN"),
	activeLaunchDetectionMethodIndex(-1),
	launchdetection_on(this, "ALL_ON"),
	throttlePreTakeoff(this, "THR_PRE")
{
	/* init all detectors */
	launchMethods[0] = new CatapultLaunchMethod(this);


	/* update all parameters of all detectors */
	updateParams();
}

LaunchDetector::~LaunchDetector()
{

}

void LaunchDetector::reset()
{
	/* Reset all detectors */
	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
		launchMethods[i]->reset();
	}

	/* Reset active launchdetector */
	activeLaunchDetectionMethodIndex  = -1;


}

void LaunchDetector::update(float accel_x)
{
	if (launchdetection_on.get() == 1) {
		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
			launchMethods[i]->update(accel_x);
		}
	}
}

LaunchDetectionResult LaunchDetector::getLaunchDetected()
{
	if (launchdetection_on.get() == 1) {
		if (activeLaunchDetectionMethodIndex < 0) {
		/* None of the active launchmethods has detected a launch, check all launchmethods */
			for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
				if(launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
					warnx("selecting launchmethod %d", i);
					activeLaunchDetectionMethodIndex = i; // from now on only check this method
					return launchMethods[i]->getLaunchDetected();
				}
			}
		} else {
			return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
		}
	}

	return LAUNCHDETECTION_RES_NONE;
}

float LaunchDetector::getPitchMax(float pitchMaxDefault) {
	if (!launchdetection_on.get()) {
		return pitchMaxDefault;
	}

	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
	 * otherwise use the default limit */
	if (activeLaunchDetectionMethodIndex < 0) {
		if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) {
			return pitchMaxDefault;
		} else {
			return launchMethods[0]->getPitchMax(pitchMaxDefault);
		}
	} else {
		return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
	}

}


}