Philipp Oettershagen
7 years ago
committed by
Beat Küng
13 changed files with 148 additions and 223 deletions
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/****************************************************************************
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file health_flags.cpp |
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* |
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* Contains helper functions to efficiently set the system health flags from commander and preflight check. |
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* |
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* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch) |
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*/ |
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#include "health_flags.h" |
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void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status) |
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{ |
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PX4_INFO("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok); |
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if (present) { |
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status.onboard_control_sensors_present |= (uint32_t)subsystem_type; |
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} else { |
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status.onboard_control_sensors_present &= ~(uint32_t)subsystem_type; |
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} |
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if (enabled) { |
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status.onboard_control_sensors_enabled |= (uint32_t)subsystem_type; |
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} else { |
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status.onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type; |
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} |
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if (ok) { |
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status.onboard_control_sensors_health |= (uint32_t)subsystem_type; |
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} else { |
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status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type; |
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} |
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} |
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void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status) |
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{ |
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set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, |
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status); |
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} |
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void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status) |
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{ |
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set_health_flags(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type, |
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status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status); |
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} |
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@ -1,110 +0,0 @@
@@ -1,110 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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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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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file subsystem_info_pub.cpp |
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* |
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* Contains helper functions to efficiently publish the subsystem_info messages from various locations inside the code. |
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* |
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* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch) |
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*/ |
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#include "subsystem_info_pub.h" |
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#include <uORB/topics/subsystem_info.h> |
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orb_advert_t subsys_pub = nullptr; |
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int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); |
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void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s *status_ptr) |
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{ |
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PX4_DEBUG("publish_subsystem_info (method:%s): Type %llu pres=%u enabl=%u ok=%u", |
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status_ptr == nullptr ? "publish" : "local", subsystem_type, present, enabled, ok); |
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if (status_ptr == nullptr) { |
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/* Publish the subsystem_info message via uORB. This is the case when this
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* function was called from a module outside of commander */ |
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struct subsystem_info_s subsys_info = {}; |
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subsys_info.present = present; |
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subsys_info.enabled = enabled; |
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subsys_info.ok = ok; |
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subsys_info.subsystem_type = subsystem_type; |
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if (subsys_pub != nullptr) { |
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orb_publish(ORB_ID(subsystem_info), subsys_pub, &subsys_info); |
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} else { |
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subsys_pub = orb_advertise_queue(ORB_ID(subsystem_info), &subsys_info, subsystem_info_s::ORB_QUEUE_LENGTH); |
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} |
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} else { |
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/* Update locally, i.e. directly using the supplied status_ptr. This happens
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* when this function was called from inside commander*/ |
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if (present) { |
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status_ptr->onboard_control_sensors_present |= (uint32_t)subsystem_type; |
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} else { |
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status_ptr->onboard_control_sensors_present &= ~(uint32_t)subsystem_type; |
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} |
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if (enabled) { |
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status_ptr->onboard_control_sensors_enabled |= (uint32_t)subsystem_type; |
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} else { |
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status_ptr->onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type; |
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} |
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if (ok) { |
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status_ptr->onboard_control_sensors_health |= (uint32_t)subsystem_type; |
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} else { |
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status_ptr->onboard_control_sensors_health &= ~(uint32_t)subsystem_type; |
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} |
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} |
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} |
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void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy, |
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vehicle_status_s *status_ptr) |
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{ |
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struct vehicle_status_s status; |
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status); |
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publish_subsystem_info(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, |
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healthy, status_ptr); |
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} |
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void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok, vehicle_status_s *status_ptr) |
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{ |
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struct vehicle_status_s status; |
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status); |
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publish_subsystem_info(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type, |
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status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, ok, status_ptr); |
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} |
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