ArmStateMachine: replace state name array with method

msg/vehicle_status.msg

@@ -1,5 +1,3 @@
-# If you change the order, add or remove arming_state_t states make sure to update the arrays
-# in state_machine_helper.cpp as well.
 uint64 timestamp				# time since system start (microseconds)
 
 uint8 ARMING_STATE_INIT = 0

src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp

@@ -60,6 +60,29 @@ events::px4::enums::arming_state_t ArmStateMachine::eventArmingState(uint8_t arm
 	return events::px4::enums::arming_state_t::init;
 }
 
+const char *ArmStateMachine::getArmingStateName(uint8_t arming_state)
+{
+	switch (arming_state) {
+
+	case vehicle_status_s::ARMING_STATE_INIT: return "Init";
+
+	case vehicle_status_s::ARMING_STATE_STANDBY: return "Standby";
+
+	case vehicle_status_s::ARMING_STATE_ARMED: return "Armed";
+
+	case vehicle_status_s::ARMING_STATE_STANDBY_ERROR: return "Standby error";
+
+	case vehicle_status_s::ARMING_STATE_SHUTDOWN: return "Shutdown";
+
+	case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE: return "In-air restore";
+
+	default: return "Unknown";
+	}
+
+	static_assert(vehicle_status_s::ARMING_STATE_MAX - 1 == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE,
+		      "enum def mismatch");
+}
+
 transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &status,
 		const vehicle_control_mode_s &control_mode, const safety_s &safety,
 		const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
@@ -205,7 +228,7 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
 		if (!feedback_provided) {
 			// FIXME: this catch-all does not provide helpful information to the user
 			mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s\t",
-					     arming_state_names[status.arming_state], arming_state_names[new_arming_state]);
+					     getArmingStateName(status.arming_state), getArmingStateName(new_arming_state));
 			events::send<events::px4::enums::arming_state_t, events::px4::enums::arming_state_t>(
 				events::ID("commander_transition_denied"), events::Log::Critical,
 				"Arming state transition denied: {1} to {2}",

src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp

@@ -52,6 +52,8 @@ public:
 	ArmStateMachine() = default;
 	~ArmStateMachine() = default;
 
+	static const char *getArmingStateName(uint8_t arming_state);
+
 	transition_result_t
 	arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode, const safety_s &safety,
 				const arming_state_t new_arming_state,
@@ -59,16 +61,6 @@ public:
 				vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements,
 				const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason);
 
-	// You can index into the array with an arming_state_t in order to get its textual representation
-	const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
-		"INIT",
-		"STANDBY",
-		"ARMED",
-		"STANDBY_ERROR",
-		"SHUTDOWN",
-		"IN_AIR_RESTORE",
-	};
-
 private:
 	static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state);
 

src/modules/commander/Commander.cpp

@@ -479,7 +479,7 @@ int Commander::custom_command(int argc, char *argv[])
 
 int Commander::print_status()
 {
-	PX4_INFO("arming: %s", _arm_state_machine.arming_state_names[_status.arming_state]);
+	PX4_INFO("arming: %s", _arm_state_machine.getArmingStateName(_status.arming_state));
 	PX4_INFO("navigation: %s", nav_state_names[_status.nav_state]);
 	perf_print_counter(_loop_perf);
 	perf_print_counter(_preflight_check_perf);

src/modules/commander/state_machine_helper.h

@@ -100,7 +100,6 @@ enum class position_nav_loss_actions_t {
 	LAND_TERMINATE = 1,	// Land/Terminate.  Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
 };
 
-extern const char *const arming_state_names[];
 extern const char *const nav_state_names[];
 
 enum RCLossExceptionBits {