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author | px4dev <px4@purgatory.org> | 2013-04-26 16:14:32 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-04-26 16:14:32 -0700 |
commit | 01e427b17c161d8adaa38d6bdb91aecb434451f2 (patch) | |
tree | e33f4f6b78ef133c91ad92f1a413c2b16f17a5d5 /src/modules/commander/state_machine_helper.h | |
parent | ce0e4a3afd28b97d5a540e02bef86c52a335f243 (diff) | |
download | px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.gz px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.bz2 px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.zip |
Merge working changes into export-build branch.
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
-rw-r--r-- | src/modules/commander/state_machine_helper.h | 209 |
1 files changed, 209 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h new file mode 100644 index 000000000..2f2ccc729 --- /dev/null +++ b/src/modules/commander/state_machine_helper.h @@ -0,0 +1,209 @@ +/**************************************************************************** + * + * 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.h + * State machine helper functions definitions + */ + +#ifndef STATE_MACHINE_HELPER_H_ +#define STATE_MACHINE_HELPER_H_ + +#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor) +#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> + +/** + * Switch to new state with no checking. + * + * do_state_update: this is the functions that all other functions have to call in order to update the state. + * the function does not question the state change, this must be done before + * The function performs actions that are connected with the new state (buzzer, reboot, ...) + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + * + * @return 0 (macro OK) or 1 on error (macro ERROR) + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); + +/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + + +/** + * Handle state machine if got position fix + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if position fix lost + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to arm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to disarm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is manual + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is stabilized + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is guided + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is auto + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish current state information + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + + +/* + * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). + * If the request is obeyed the functions return 0 + * + */ + +/** + * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); + +/** + * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +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); + +/** + * Always switches to critical mode under any circumstances. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Switches to emergency if required. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish the armed state depending on the current system state + * + * @param current_status the current system status + */ +void publish_armed_status(const struct vehicle_status_s *current_status); + + + +#endif /* STATE_MACHINE_HELPER_H_ */ |