forked from Archive/PX4-Autopilot
commander state machine helper pass battery and safety as const references
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4ccfc280c8
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@ -410,10 +410,10 @@ int commander_main(int argc, char *argv[])
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if (!strcmp(argv[1], "check")) {
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int checkres = 0;
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checkres = prearm_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery, ARM_REQ_GPS_BIT, hrt_elapsed_time(&commander_boot_timestamp));
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checkres = prearm_check(&mavlink_log_pub, false, true, &status_flags, battery, ARM_REQ_GPS_BIT, hrt_elapsed_time(&commander_boot_timestamp));
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warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
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checkres = prearm_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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checkres = prearm_check(&mavlink_log_pub, true, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
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return 0;
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@ -622,8 +622,8 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
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// Transition the armed state. By passing mavlink_log_pub to arming_state_transition it will
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// output appropriate error messages if the state cannot transition.
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arming_res = arming_state_transition(&status,
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&battery,
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&safety,
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battery,
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safety,
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arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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true /* fRunPreArmChecks */,
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@ -1854,17 +1854,10 @@ Commander::run()
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arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
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if (TRANSITION_CHANGED == arming_state_transition(&status,
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&battery,
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&safety,
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new_arming_state,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp))) {
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if (TRANSITION_CHANGED == arming_state_transition(&status, battery, safety, new_arming_state, &armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
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&status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
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) {
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status_changed = true;
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}
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}
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@ -2223,17 +2216,10 @@ Commander::run()
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/* If in INIT state, try to proceed to STANDBY state */
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if (!status_flags.condition_calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
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arming_ret = arming_state_transition(&status,
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&battery,
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&safety,
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vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp));
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
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true /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, avionics_power_rail_voltage,
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arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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if (arming_ret == TRANSITION_DENIED) {
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/* do not complain if not allowed into standby */
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@ -2453,17 +2439,8 @@ Commander::run()
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print_reject_arm("NOT DISARMING: Not in manual mode or landed yet.");
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} else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
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arming_ret = arming_state_transition(&status,
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&battery,
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&safety,
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vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp));
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
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&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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}
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stick_off_counter++;
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/* do not reset the counter when holding the arm button longer than needed */
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@ -2503,17 +2480,8 @@ Commander::run()
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print_reject_arm("NOT ARMING: Geofence RTL requires valid home");
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} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
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arming_ret = arming_state_transition(&status,
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&battery,
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&safety,
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vehicle_status_s::ARMING_STATE_ARMED,
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&armed,
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true /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp));
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arming_ret = arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
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&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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if (arming_ret != TRANSITION_CHANGED) {
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usleep(100000);
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@ -4010,17 +3978,9 @@ void *commander_low_prio_loop(void *arg)
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int calib_ret = PX4_ERROR;
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/* try to go to INIT/PREFLIGHT arming state */
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if (TRANSITION_DENIED == arming_state_transition(&status,
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&battery,
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&safety,
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vehicle_status_s::ARMING_STATE_INIT,
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&armed,
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false /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp))) {
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if (TRANSITION_DENIED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
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false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, avionics_power_rail_voltage,
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arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))) {
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answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);
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break;
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@ -4117,17 +4077,8 @@ void *commander_low_prio_loop(void *arg)
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!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), arm_requirements & ARM_REQ_GPS_BIT,
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true, is_vtol(&status), hotplug_timeout, false, hrt_elapsed_time(&commander_boot_timestamp));
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arming_state_transition(&status,
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&battery,
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&safety,
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vehicle_status_s::ARMING_STATE_STANDBY,
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&armed,
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false /* fRunPreArmChecks */,
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&mavlink_log_pub,
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&status_flags,
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avionics_power_rail_voltage,
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arm_requirements,
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hrt_elapsed_time(&commander_boot_timestamp));
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arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */,
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&mavlink_log_pub, &status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
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} else {
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tune_negative(true);
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@ -261,7 +261,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
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armed.ready_to_arm = test->current_state.ready_to_arm;
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// Attempt transition
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transition_result_t result = arming_state_transition(&status, &battery, &safety, test->requested_state, &armed,
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transition_result_t result = arming_state_transition(&status, battery, safety, test->requested_state, &armed,
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false /* no pre-arm checks */,
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nullptr /* no mavlink_log_pub */,
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&status_flags,
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@ -96,16 +96,16 @@ void set_link_loss_nav_state(vehicle_status_s *status,
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void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act);
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transition_result_t arming_state_transition(vehicle_status_s *status,
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battery_status_s *battery,
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const struct safety_s *safety,
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arming_state_t new_arming_state,
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const battery_status_s& battery,
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const safety_s& safety,
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const arming_state_t new_arming_state,
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actuator_armed_s *armed,
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bool fRunPreArmChecks,
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const bool fRunPreArmChecks,
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orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
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vehicle_status_flags_s *status_flags,
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float avionics_power_rail_voltage,
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uint8_t arm_requirements,
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hrt_abstime time_since_boot)
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const float avionics_power_rail_voltage,
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const uint8_t arm_requirements,
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const hrt_abstime& time_since_boot)
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{
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// Double check that our static arrays are still valid
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static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
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@ -146,9 +146,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
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arm_requirements & ARM_REQ_GPS_BIT, true, status->is_vtol, true, true, time_since_boot);
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prearm_ret = prearm_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
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status_flags, battery, arm_requirements,
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time_since_boot);
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prearm_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */,
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status_flags, battery, arm_requirements, time_since_boot);
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if (!preflight_check) {
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prearm_ret = false;
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@ -219,7 +218,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
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// Fail transition if we need safety switch press
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} else if (safety->safety_switch_available && !safety->safety_off) {
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} else if (safety.safety_switch_available && !safety.safety_off) {
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mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
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feedback_provided = true;
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@ -1045,9 +1044,9 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c
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}
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}
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int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
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vehicle_status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
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hrt_abstime time_since_boot)
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int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report,
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vehicle_status_flags_s *status_flags, const battery_status_s& battery, const uint8_t arm_requirements,
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const hrt_abstime& time_since_boot)
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{
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bool reportFailures = force_report || (!status_flags->condition_system_prearm_error_reported &&
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status_flags->condition_system_hotplug_timeout);
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@ -1061,7 +1060,7 @@ int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool p
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}
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}
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if (!status_flags->circuit_breaker_engaged_power_check && battery->warning >= battery_status_s::BATTERY_WARNING_LOW) {
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if (!status_flags->circuit_breaker_engaged_power_check && battery.warning >= battery_status_s::BATTERY_WARNING_LOW) {
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prearm_ok = false;
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if (reportFailures) {
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@ -79,17 +79,17 @@ extern const char *const arming_state_names[];
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bool is_safe(const safety_s& safety, const actuator_armed_s& armed);
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transition_result_t arming_state_transition(struct vehicle_status_s *status,
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struct battery_status_s *battery,
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const struct safety_s *safety,
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arming_state_t new_arming_state,
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struct actuator_armed_s *armed,
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bool fRunPreArmChecks,
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transition_result_t arming_state_transition(vehicle_status_s *status,
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const battery_status_s& battery,
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const safety_s& safety,
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const arming_state_t new_arming_state,
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actuator_armed_s *armed,
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const bool fRunPreArmChecks,
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orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
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vehicle_status_flags_s *status_flags,
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float avionics_power_rail_voltage,
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uint8_t arm_requirements,
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hrt_abstime time_since_boot);
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const float avionics_power_rail_voltage,
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const uint8_t arm_requirements,
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const hrt_abstime& time_since_boot);
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transition_result_t
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main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state);
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@ -124,8 +124,8 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status,
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const bool use_rc, // true if a mode using RC control can be used as a fallback
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const bool using_global_pos); // true when the current mode requires a global position estimate
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int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
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bool force_report, vehicle_status_flags_s *status_flags, battery_status_s *battery,
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uint8_t arm_requirements, hrt_abstime time_since_boot);
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int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm,
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const bool force_report, vehicle_status_flags_s *status_flags, const battery_status_s& battery,
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const uint8_t arm_requirements, const hrt_abstime& time_since_boot);
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#endif /* STATE_MACHINE_HELPER_H_ */
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