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200 lines
9.1 KiB
200 lines
9.1 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch> |
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* Julian Oes <joes@student.ethz.ch> |
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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 state_machine_helper.h |
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* State machine helper functions definitions |
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*/ |
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#ifndef STATE_MACHINE_HELPER_H_ |
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#define STATE_MACHINE_HELPER_H_ |
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#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor) |
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#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock |
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#include <uORB/uORB.h> |
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#include <uORB/topics/vehicle_status.h> |
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/** |
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* Switch to new state with no checking. |
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* |
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* do_state_update: this is the functions that all other functions have to call in order to update the state. |
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* the function does not question the state change, this must be done before |
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* The function performs actions that are connected with the new state (buzzer, reboot, ...) |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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* |
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* @return 0 (macro OK) or 1 on error (macro ERROR) |
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*/ |
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int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); |
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/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ |
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// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); |
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/** |
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* Handle state machine if got position fix |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if position fix lost |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if user wants to arm |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if user wants to disarm |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if mode switch is manual |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if mode switch is stabilized |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Handle state machine if mode switch is auto |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Publish current state information |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/* |
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* Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). |
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* If the request is obeyed the functions return 0 |
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* |
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*/ |
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/** |
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* Handles *incoming request* to switch to a specific state, if state change is successful returns 0 |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); |
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/** |
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* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode); |
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/** |
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* Always switches to critical mode under any circumstances. |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Switches to emergency if required. |
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* |
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* @param status_pub file descriptor for state update topic publication |
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* @param current_status pointer to the current state machine to operate on |
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* @param mavlink_fd file descriptor for MAVLink statustext messages |
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*/ |
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void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); |
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/** |
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* Publish the armed state depending on the current system state |
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* |
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* @param current_status the current system status |
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*/ |
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void publish_armed_status(const struct vehicle_status_s *current_status); |
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#endif /* STATE_MACHINE_HELPER_H_ */
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