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px4-firmware/apps/commander/state_machine_helper.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file state_machine_helper.c
* State machine helper functions implementations
*/
#include <stdio.h>
#include "state_machine_helper.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_hrt.h>
static const char* system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
"SYSTEM_STATE_STANDBY",
"SYSTEM_STATE_GROUND_READY",
"SYSTEM_STATE_MANUAL",
"SYSTEM_STATE_STABILIZED",
"SYSTEM_STATE_AUTO",
"SYSTEM_STATE_MISSION_ABORT",
"SYSTEM_STATE_EMCY_LANDING",
"SYSTEM_STATE_EMCY_CUTOFF",
"SYSTEM_STATE_GROUND_ERROR",
"SYSTEM_STATE_REBOOT",
};
void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state)
{
int invalid_state = false;
commander_state_machine_t old_state = current_status->state_machine;
switch (new_state) {
case SYSTEM_STATE_MISSION_ABORT: {
/* Indoor or outdoor */
uint8_t flight_environment_parameter = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
} else {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
}
return;
}
break;
case SYSTEM_STATE_EMCY_LANDING:
/* Tell the controller to land */
//TODO: add emcy landing code here
fprintf(stderr, "[commander] EMERGENCY LANDING!\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: emergency landing", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_EMCY_CUTOFF:
/* Tell the controller to cutoff the motors (thrust = 0), make sure that this is not overwritten by another app and stays at 0 */
//TODO: add emcy cutoff code here
fprintf(stderr, "[commander] EMERGENCY MOTOR CUTOFF!\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: emergency cutoff", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_GROUND_ERROR:
fprintf(stderr, "[commander] GROUND ERROR, locking down propulsion system\n");
//global_data_send_mavlink_statustext_message_out("Commander: state: ground error", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_PREFLIGHT:
//global_data_send_mavlink_statustext_message_out("Commander: state: preflight", MAV_SEVERITY_INFO);
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
invalid_state = false;
} else {
invalid_state = true;
}
break;
case SYSTEM_STATE_REBOOT:
usleep(500000);
reboot();
break;
case SYSTEM_STATE_STANDBY:
//global_data_send_mavlink_statustext_message_out("Commander: state: standby", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_GROUND_READY:
//global_data_send_mavlink_statustext_message_out("Commander: state: armed", MAV_SEVERITY_INFO);
//if in manual mode switch to manual state
// if (current_status->remote_manual) {
// printf("[commander] manual mode\n");
// do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
// return;
// }
break;
case SYSTEM_STATE_AUTO:
//global_data_send_mavlink_statustext_message_out("Commander: state: auto", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_STABILIZED:
//global_data_send_mavlink_statustext_message_out("Commander: state: stabilized", MAV_SEVERITY_INFO);
break;
case SYSTEM_STATE_MANUAL:
//global_data_send_mavlink_statustext_message_out("Commander: state: manual", MAV_SEVERITY_INFO);
break;
default:
invalid_state = true;
break;
}
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status);
}
}
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status) {
/* publish the new state */
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
printf("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
}
/*
* Private functions, update the state machine
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status)
{
fprintf(stderr, "[commander] EMERGENCY HANDLER\n");
/* Depending on the current state go to one of the error states */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
} else {
fprintf(stderr, "[commander] Unknown system state: #%d\n", current_status->state_machine);
}
}
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
{
if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
state_machine_emergency_always_critical(status_pub, current_status);
} else {
//global_data_send_mavlink_statustext_message_out("[commander] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
}
}
// /*
// * Wrapper functions (to be used in the commander), all functions assume lock on current_status
// */
// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
// *
// * START SUBSYSTEM/EMERGENCY FUNCTIONS
// * */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was removed something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was disabled something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_health |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //TODO state machine change (recovering)
// break;
// case SUBSYSTEM_TYPE_ACC:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_MAG:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_GPS:
// //TODO state machine change
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type);
// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// // //TODO: remove this block
// // break;
// // ///////////////////
// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL);
// // printf("previosly_healthy = %u\n", previosly_healthy);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency(status_pub, current_status);
// break;
// default:
// break;
// }
// }
/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) {
state_machine_emergency(status_pub, current_status);
}
}
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status)
{
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
printf("[commander] arming\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
} /*else if (current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] landing\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
}*/
}
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
printf("[commander] going standby\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] MISSION ABORT!\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] manual mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
}
}
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[commander] stabilized mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
}
}
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
printf("[commander] auto mode\n");
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO);
}
}
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode)
{
commander_state_machine_t current_system_state = current_status->state_machine;
printf("in update state request\n");
uint8_t ret = 1;
/* Switch on HIL if in standby */
if ((current_system_state == SYSTEM_STATE_STANDBY) && (mode & MAV_MODE_FLAG_HIL_ENABLED)) {
/* Enable HIL on request */
current_status->mode |= MAV_MODE_FLAG_HIL_ENABLED;
ret = OK;
state_machine_publish(status_pub, current_status);
printf("[commander] Enabling HIL\n");
}
/* NEVER actually switch off HIL without reboot */
if ((current_status->mode & MAV_MODE_FLAG_HIL_ENABLED) && !(mode & MAV_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n");
ret = ERROR;
}
//TODO: clarify mapping between mavlink enum MAV_MODE and the state machine, then add more decisions to the switch (see also the system_state_loop function in mavlink.c)
switch (mode) {
case MAV_MODE_MANUAL_ARMED: //= SYSTEM_STATE_ARMED
if (current_system_state == SYSTEM_STATE_STANDBY) {
/* Set armed flag */
current_status->mode |= MAV_MODE_FLAG_SAFETY_ARMED;
/* Set manual input enabled flag */
current_status->mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
}
break;
case MAV_MODE_MANUAL_DISARMED:
if (current_system_state == SYSTEM_STATE_GROUND_READY) {
/* Clear armed flag, leave manual input enabled */
current_status->mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
ret = OK;
}
break;
default:
break;
}
#warning STATE MACHINE IS INCOMPLETE HERE
// if(ret != 0) //Debug
// {
// strcpy(mavlink_statustext_msg_content.values[0].string_value, "Commander: command rejected");
// global_data_send_mavlink_message_out(&mavlink_statustext_msg_content);
// }
return ret;
}
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
{
commander_state_machine_t current_system_state = current_status->state_machine;
uint8_t ret = 1;
switch (custom_mode) {
case SYSTEM_STATE_GROUND_READY:
break;
case SYSTEM_STATE_STANDBY:
break;
case SYSTEM_STATE_REBOOT:
printf("try to reboot\n");
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
printf("system will reboot\n");
//global_data_send_mavlink_statustext_message_out("Rebooting autopilot.. ", MAV_SEVERITY_INFO);
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0;
}
break;
case SYSTEM_STATE_AUTO:
printf("try to switch to auto/takeoff\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_AUTO);
printf("state: auto\n");
ret = 0;
}
break;
case SYSTEM_STATE_MANUAL:
printf("try to switch to manual\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) {
do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
printf("state: manual\n");
ret = 0;
}
break;
default:
break;
}
return ret;
}
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