Rover: move arming-related functionality into parent classes

Logging moves up
arming via mavlink moves up
arming via switch moves up

APMrover2/APMrover2.cpp

@@ -141,17 +141,17 @@ void Rover::loop()
     G_Dt = scheduler.get_last_loop_time_s();
 }
 
-void Rover::update_soft_armed()
+void AP_Arming_Rover::update_soft_armed()
 {
-    hal.util->set_soft_armed(arming.is_armed() &&
+    hal.util->set_soft_armed(is_armed() &&
                              hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
-    logger.set_vehicle_armed(hal.util->get_soft_armed());
+    AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
 }
 
 // update AHRS system
 void Rover::ahrs_update()
 {
-    update_soft_armed();
+    arming.update_soft_armed();
 
 #if HIL_MODE != HIL_MODE_DISABLED
     // update hil before AHRS update

APMrover2/AP_Arming.h

@@ -20,9 +20,15 @@ public:
     bool pre_arm_rc_checks(const bool display_failure);
     bool gps_checks(bool display_failure) override;
 
+    bool disarm() override;
+    bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
+
+    void update_soft_armed();
+
 protected:
     bool proximity_check(bool report);
 
 private:
 
+    void change_arm_state(void);
 };

APMrover2/GCS_Mavlink.cpp

@@ -614,23 +614,6 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
         }
         return MAV_RESULT_FAILED;
 
-    case MAV_CMD_COMPONENT_ARM_DISARM:
-        if (is_equal(packet.param1, 1.0f)) {
-            // run pre_arm_checks and arm_checks and display failures
-            if (rover.arm_motors(AP_Arming::Method::MAVLINK)) {
-                return MAV_RESULT_ACCEPTED;
-            } else {
-                return MAV_RESULT_FAILED;
-            }
-        } else if (is_zero(packet.param1))  {
-            if (rover.disarm_motors()) {
-                return MAV_RESULT_ACCEPTED;
-            } else {
-                return MAV_RESULT_FAILED;
-            }
-        }
-        return MAV_RESULT_UNSUPPORTED;
-
     case MAV_CMD_DO_CHANGE_SPEED:
         // param1 : unused
         // param2 : new speed in m/s

APMrover2/Log.cpp

@@ -4,24 +4,6 @@
 
 #if LOGGING_ENABLED == ENABLED
 
-struct PACKED log_Arm_Disarm {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t  arm_state;
-    uint16_t arm_checks;
-};
-
-void Rover::Log_Write_Arm_Disarm()
-{
-    struct log_Arm_Disarm pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
-        time_us                 : AP_HAL::micros64(),
-        arm_state               : arming.is_armed(),
-        arm_checks              : arming.get_enabled_checks()
-    };
-    logger.WriteBlock(&pkt, sizeof(pkt));
-}
-
 // Write an attitude packet
 void Rover::Log_Write_Attitude()
 {
@@ -310,8 +292,6 @@ const LogStructure Rover::log_structure[] = {
       "NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" },
     { LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
       "RGFD", "QfHHHbHCb",  "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
-    { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
-      "ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
     { LOG_STEERING_MSG, sizeof(log_Steering),
       "STER", "Qhfffff",   "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
     { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
@@ -326,7 +306,6 @@ void Rover::log_init(void)
 #else  // LOGGING_ENABLED
 
 // dummy functions
-void Rover::Log_Write_Arm_Disarm() {}
 void Rover::Log_Write_Attitude() {}
 void Rover::Log_Write_Depth() {}
 void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}

APMrover2/RC_Channel.cpp

@@ -134,15 +134,6 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
         }
         break;
 
-    // arm or disarm the motors
-    case AUX_FUNC::ARMDISARM:
-        if (ch_flag == HIGH) {
-            rover.arm_motors(AP_Arming::Method::RUDDER);
-        } else if (ch_flag == LOW) {
-            rover.disarm_motors();
-        }
-        break;
-
     // set mode to Manual
     case AUX_FUNC::MANUAL:
         do_aux_function_change_mode(rover.mode_manual, ch_flag);

APMrover2/Rover.h

@@ -406,7 +406,6 @@ private:
     void send_wheel_encoder_distance(mavlink_channel_t chan);
 
     // Log.cpp
-    void Log_Write_Arm_Disarm();
     void Log_Write_Attitude();
     void Log_Write_Depth();
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
@@ -462,9 +461,6 @@ private:
     void notify_mode(const Mode *new_mode);
     uint8_t check_digital_pin(uint8_t pin);
     bool should_log(uint32_t mask);
-    void change_arm_state(void);
-    bool arm_motors(AP_Arming::Method method);
-    bool disarm_motors(void);
     bool is_boat() const;
 
     enum Failsafe_Action {
@@ -492,7 +488,6 @@ private:
 public:
     void mavlink_delay_cb();
     void failsafe_check();
-    void update_soft_armed();
     // Motor test
     void motor_test_output();
     bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value);

APMrover2/afs_rover.cpp

@@ -18,7 +18,7 @@ AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const
 void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
 {
     // disarm as well
-    rover.disarm_motors();
+    AP::arming().disarm();
 
     // Set to HOLD mode
     rover.set_mode(rover.mode_hold, MODE_REASON_CRASH_FAILSAFE);

APMrover2/crash_check.cpp

@@ -51,14 +51,14 @@ void Rover::crash_check()
         if (is_balancebot()) {
             // send message to gcs
             gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
-            disarm_motors();
+            arming.disarm();
         } else {
             // send message to gcs
             gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
             // change mode to hold and disarm
             set_mode(mode_hold, MODE_REASON_CRASH_FAILSAFE);
             if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
-                disarm_motors();
+                arming.disarm();
             }
         }
     }

APMrover2/defines.h

@@ -26,7 +26,6 @@
 #define LOG_NTUN_MSG            0x02
 #define LOG_STARTUP_MSG         0x06
 #define LOG_RANGEFINDER_MSG     0x07
-#define LOG_ARM_DISARM_MSG      0x08
 #define LOG_STEERING_MSG        0x0D
 #define LOG_GUIDEDTARGET_MSG    0x0E
 
@@ -48,7 +47,7 @@
 #define MASK_LOG_CAMERA         (1<<12)
 #define MASK_LOG_STEERING       (1<<13)
 #define MASK_LOG_RC             (1<<14)
-#define MASK_LOG_ARM_DISARM     (1<<15)
+// #define MASK_LOG_ARM_DISARM     (1<<15)
 #define MASK_LOG_IMU_RAW        (1UL<<19)
 
 // for mavlink SET_POSITION_TARGET messages

APMrover2/failsafe.cpp

@@ -35,7 +35,7 @@ void Rover::failsafe_check()
         // To-Do: log error
         if (arming.is_armed()) {
             // disarm motors
-            disarm_motors();
+            arming.disarm();
         }
     }
 }
@@ -135,7 +135,7 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
                 snprintf(battery_type_str, 17, "%s battery", type_str);
                 g2.afs.gcs_terminate(true, battery_type_str);
 #else
-                disarm_motors();
+                arming.disarm();
 #endif // ADVANCED_FAILSAFE == ENABLED
                 break;
         }

APMrover2/motor_test.cpp

@@ -126,7 +126,7 @@ MAV_RESULT Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor
 
             // arm motors
             if (!arming.is_armed()) {
-                arm_motors(AP_Arming::Method::MOTORTEST);
+                arming.arm(AP_Arming::Method::MOTORTEST);
             }
 
             // disable failsafes
@@ -161,7 +161,7 @@ void Rover::motor_test_stop()
     }
 
     // disarm motors
-    disarm_motors();
+    AP::arming().disarm();
 
     // reset timeout
     motor_test_start_ms = 0;

APMrover2/radio.cpp

@@ -72,7 +72,7 @@ void Rover::rudder_arm_disarm_check()
                 }
             } else {
                 // time to arm!
-                arm_motors(AP_Arming::Method::RUDDER);
+                arming.arm(AP_Arming::Method::RUDDER);
                 rudder_arm_timer = 0;
             }
         } else {
@@ -91,7 +91,7 @@ void Rover::rudder_arm_disarm_check()
                 }
             } else {
                 // time to disarm!
-                disarm_motors();
+                arming.disarm();
                 rudder_arm_timer = 0;
             }
         } else {

APMrover2/system.cpp

@@ -317,7 +317,7 @@ bool Rover::should_log(uint32_t mask)
 /*
   update AHRS soft arm state and log as needed
  */
-void Rover::change_arm_state(void)
+void AP_Arming_Rover::change_arm_state(void)
 {
     Log_Write_Arm_Disarm();
     update_soft_armed();
@@ -326,15 +326,15 @@ void Rover::change_arm_state(void)
 /*
   arm motors
  */
-bool Rover::arm_motors(AP_Arming::Method method)
+bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
 {
-    if (!arming.arm(method)) {
+    if (!AP_Arming::arm(method, do_arming_checks)) {
         AP_Notify::events.arming_failed = true;
         return false;
     }
 
     // Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
-    g2.smart_rtl.set_home(true);
+    rover.g2.smart_rtl.set_home(true);
 
     // initialize simple mode heading
     rover.mode_simple.init_heading();
@@ -343,20 +343,21 @@ bool Rover::arm_motors(AP_Arming::Method method)
     rover.g2.windvane.record_home_heading();
 
     change_arm_state();
+
     return true;
 }
 
 /*
   disarm motors
  */
-bool Rover::disarm_motors(void)
+bool AP_Arming_Rover::disarm(void)
 {
-    if (!arming.disarm()) {
+    if (!AP_Arming::disarm()) {
         return false;
     }
-    if (control_mode != &mode_auto) {
+    if (rover.control_mode != &rover.mode_auto) {
         // reset the mission on disarm if we are not in auto
-        mode_auto.mission.reset();
+        rover.mode_auto.mission.reset();
     }
 
     // only log if disarming was successful