diff options
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 614 |
1 files changed, 261 insertions, 353 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index aae119d35..2e4935471 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -54,422 +54,330 @@ /** - * Transition from one navigation state to another + * Transition from one sytem state to another */ -int do_navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, navigation_state_t new_state) +void state_machine_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { - bool valid_path = false; - bool valid_transition = false; int ret = ERROR; + system_state_t new_system_state; - if (current_status->navigation_state == new_state) { - warnx("Navigation state not changed"); - } else { - - switch (new_state) { - case NAVIGATION_STATE_STANDBY: - - if (current_status->navigation_state == NAVIGATION_STATE_MANUAL - || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { - - if (!current_status->flag_system_armed) { - mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); - valid_transition = true; - } else { - mavlink_log_critical(mavlink_fd, "Rejected STANDBY state: armed"); - } - valid_path = true; - } - break; - - case NAVIGATION_STATE_MANUAL: - - if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) { - - /* only check for armed flag when coming from STANDBY XXX does that make sense? */ - if (current_status->flag_system_armed) { - mavlink_log_critical(mavlink_fd, "Switched to MANUAL state"); - valid_transition = true; - } else { - mavlink_log_critical(mavlink_fd, "Rejected MANUAL state: disarmed"); - } - valid_path = true; - } else if (current_status->navigation_state == NAVIGATION_STATE_SEATBELT - || current_status->navigation_state == NAVIGATION_STATE_LOITER - || current_status->navigation_state == NAVIGATION_STATE_MISSION - || current_status->navigation_state == NAVIGATION_STATE_RTL - || current_status->navigation_state == NAVIGATION_STATE_LAND - || current_status->navigation_state == NAVIGATION_STATE_TAKEOFF - || current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { - mavlink_log_critical(mavlink_fd, "Switched to MANUAL state"); - valid_transition = true; - valid_path = true; - } - break; - - case NAVIGATION_STATE_SEATBELT: - - if (current_status->navigation_state == NAVIGATION_STATE_MANUAL - || current_status->navigation_state == NAVIGATION_STATE_LOITER - || current_status->navigation_state == NAVIGATION_STATE_MISSION) { - - mavlink_log_critical(mavlink_fd, "Switched to SEATBELT state"); - valid_transition = true; - valid_path = true; - } - break; - case NAVIGATION_STATE_DESCENT: - - if (current_status->navigation_state == NAVIGATION_STATE_MANUAL - || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { - - mavlink_log_critical(mavlink_fd, "Switched to DESCENT state"); - valid_transition = true; - valid_path = true; - } - break; - - case NAVIGATION_STATE_LOITER: - - /* Check for position lock when coming from MANUAL or SEATBELT */ - if (current_status->navigation_state == NAVIGATION_STATE_MANUAL || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { - mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); - valid_transition = true; - if (current_status->flag_global_position_valid) { - mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); - valid_transition = true; - - } else { - mavlink_log_critical(mavlink_fd, "Rejected LOITER state: no pos lock"); - } - valid_path = true; - } else if (current_status->navigation_state == NAVIGATION_STATE_MISSION) { - mavlink_log_critical(mavlink_fd, "Switched to LOITER state"); - valid_transition = true; - valid_path = true; - } - break; - - case NAVIGATION_STATE_AUTO_READY: - - /* coming from STANDBY pos and home lock are needed */ - if (current_status->navigation_state == NAVIGATION_STATE_STANDBY) { - - if (!current_status->flag_system_armed) { - mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: disarmed"); + /* + * Firstly evaluate mode switch position + * */ - } else if (!current_status->flag_global_position_valid) { - mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no pos lock"); + /* Always accept manual mode */ + if (current_status->mode_switch == MODE_SWITCH_MANUAL) { + new_system_state = SYSTEM_STATE_MANUAL; - } else if (!current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no home lock"); + /* Accept SEATBELT if there is a local position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_SEATBELT) { - } else { - mavlink_log_critical(mavlink_fd, "Switched to AUTO READY state"); - valid_transition = true; - } - valid_path = true; - /* coming from LAND home lock is needed */ - } else if (current_status->navigation_state == NAVIGATION_STATE_LAND) { - - if (!current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Rejected AUTO READY state: no home lock"); - } else { - mavlink_log_critical(mavlink_fd, "Switched to AUTO READY state"); - valid_transition = true; - } - valid_path = true; - } - break; - - case NAVIGATION_STATE_MISSION: - - /* coming from TAKEOFF or RTL is always possible */ - if (current_status->navigation_state == NAVIGATION_STATE_TAKEOFF - || current_status->navigation_state == NAVIGATION_STATE_RTL) { - mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); - valid_transition = true; - valid_path = true; - - /* coming from MANUAL or SEATBELT requires home and pos lock */ - } else if (current_status->navigation_state == NAVIGATION_STATE_MANUAL - || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { - - if (!current_status->flag_global_position_valid) { - mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no pos lock"); - - } else if (!current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no home lock"); - mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); - valid_transition = true; - } else { - - } - valid_path = true; - - /* coming from loiter a home lock is needed */ - } else if (current_status->navigation_state == NAVIGATION_STATE_LOITER) { - if (current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Switched to MISSION state"); - valid_transition = true; - } else { - mavlink_log_critical(mavlink_fd, "Rejected MISSION state: no home lock"); - } - valid_path = true; - } - break; - - case NAVIGATION_STATE_RTL: - - /* coming from MISSION is always possible */ - if (current_status->navigation_state == NAVIGATION_STATE_MISSION) { - mavlink_log_critical(mavlink_fd, "Switched to RTL state"); - valid_transition = true; - valid_path = true; - - /* coming from MANUAL or SEATBELT requires home and pos lock */ - } else if (current_status->navigation_state == NAVIGATION_STATE_MANUAL - || current_status->navigation_state == NAVIGATION_STATE_SEATBELT) { - - if (!current_status->flag_global_position_valid) { - mavlink_log_critical(mavlink_fd, "Rejected RTL state: no pos lock"); - } else if (!current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Rejected RTL state: no home lock"); - } else { - mavlink_log_critical(mavlink_fd, "Switched to RTL state"); - valid_transition = true; - } - valid_path = true; - - /* coming from loiter a home lock is needed */ - } else if (current_status->navigation_state == NAVIGATION_STATE_LOITER) { - if (current_status->flag_valid_launch_position) { - mavlink_log_critical(mavlink_fd, "Switched to RTL state"); - valid_transition = true; - } else { - mavlink_log_critical(mavlink_fd, "Rejected RTL state: no home lock"); - } - valid_path = true; - } - break; + if (current_status->flag_local_position_valid) { + new_system_state = SYSTEM_STATE_SEATBELT; + } else { + /* or just fall back to manual */ + mavlink_log_critical(mavlink_fd, "REJ SEATBELT: no local position"); + new_system_state = SYSTEM_STATE_MANUAL); + } - case NAVIGATION_STATE_TAKEOFF: + /* Accept AUTO if there is a global position estimate */ + } else if (current_status->mode_switch == MODE_SWITCH_AUTO) { + if (current_status->flag_local_position_valid) { + new_system_state = SYSTEM_STATE_SEATBELT); + } else { + mavlink_log_critical(mavlink_fd, "REJ AUTO: no global position"); + + /* otherwise fallback to seatbelt or even manual */ + if (current_status->flag_local_position_valid) { + new_system_state = SYSTEM_STATE_SEATBELT; + } else { + mavlink_log_critical(mavlink_fd, "REJ SEATBELT: no local position"); + new_system_state = SYSTEM_STATE_MANUAL; + } + } + } - if (current_status->navigation_state == NAVIGATION_STATE_AUTO_READY) { + /* + * Next up, check for + */ - /* TAKEOFF is straight forward from AUTO READY */ - mavlink_log_critical(mavlink_fd, "Switched to TAKEOFF state"); - valid_transition = true; - valid_path = true; - } - break; - case NAVIGATION_STATE_LAND: - if (current_status->navigation_state == NAVIGATION_STATE_RTL - || current_status->navigation_state == NAVIGATION_STATE_LOITER - || current_status->navigation_state == NAVIGATION_STATE_MISSION) { - mavlink_log_critical(mavlink_fd, "Switched to LAND state"); - valid_transition = true; - valid_path = true; - } - break; + /* Update the system state in case it has changed */ + if (current_status->system_state != new_system_state) { - default: - warnx("Unknown navigation state"); - break; + /* Check if the transition is valid */ + if (system_state_update(current_status->system_state, new_system_state) == OK) { + current_status->system_state = new_system_state; + state_machine_publish(status_pub, current_status, mavlink_fd); + } else { + mavlink_log_critical(mavlink_fd, "System state transition not valid"); } } - if (valid_transition) { - current_status->navigation_state = new_state; - state_machine_publish(status_pub, current_status, mavlink_fd); -// publish_armed_status(current_status); - ret = OK; - } - - if (!valid_path){ - mavlink_log_critical(mavlink_fd, "REJECTING invalid navigation state transition"); - } - - return ret; + return; } -/** - * Transition from one arming state to another +/* + * This functions does not evaluate any input flags but only checks if the transitions + * are valid. */ -int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state) -{ - bool valid_transition = false; - int ret = ERROR; - - warnx("Current state: %d, requested state: %d", current_status->arming_state, new_state); +int system_state_update(system_state_t current_system_state, system_state_t new_system_state) { - if (current_status->arming_state == new_state) { - warnx("Arming state not changed"); - valid_transition = true; - - } else { + int ret = ERROR; - switch (new_state) { + /* only check transition if the new state is actually different from the current one */ + if (new_system_state != current_system_state) { - case ARMING_STATE_INIT: + switch (new_system_state) { + case SYSTEM_STATE_INIT: - if (current_status->arming_state == ARMING_STATE_STANDBY) { + /* transitions back to INIT are possible for calibration */ + if (current_system_state == SYSTEM_STATE_MANUAL + || current_system_state == SYSTEM_STATE_SEATBELT + || current_system_state == SYSTEM_STATE_AUTO) { - mavlink_log_critical(mavlink_fd, "Switched to INIT ARMING STATE"); - valid_transition = true; + ret = OK; } - break; - case ARMING_STATE_STANDBY: - - // TODO check for sensors - // XXX check if coming from reboot? - if (current_status->arming_state == ARMING_STATE_INIT) { + break; - if (current_status->flag_system_sensors_initialized) { - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); - valid_transition = true; - } else { - mavlink_log_critical(mavlink_fd, "REJ. STANDBY arming state, sensors not init."); - } + case SYSTEM_STATE_MANUAL: - } else if (current_status->arming_state == ARMING_STATE_ARMED) { + /* transitions from INIT or from other modes */ + if (current_system_state == SYSTEM_STATE_INIT + || current_system_state == SYSTEM_STATE_SEATBELT + || current_system_state == SYSTEM_STATE_AUTO) { - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); - valid_transition = true; + ret = OK; } - break; - case ARMING_STATE_ARMED: - - if (current_status->arming_state == ARMING_STATE_STANDBY - || current_status->arming_state == ARMING_STATE_IN_AIR_RESTORE) { - current_status->flag_system_armed = true; - mavlink_log_critical(mavlink_fd, "Switched to ARMED arming state"); - valid_transition = true; - } break; - case ARMING_STATE_ABORT: + case SYSTEM_STATE_SEATBELT: - if (current_status->arming_state == ARMING_STATE_ARMED) { + /* transitions from INIT or from other modes */ + if (current_system_state == SYSTEM_STATE_INIT + || current_system_state == SYSTEM_STATE_MANUAL + || current_system_state == SYSTEM_STATE_AUTO) { - mavlink_log_critical(mavlink_fd, "Switched to MISSION ABORT arming state"); - valid_transition = true; + ret = OK; } - break; - - case ARMING_STATE_ERROR: - - if (current_status->arming_state == ARMING_STATE_ARMED - || current_status->arming_state == ARMING_STATE_ABORT - || current_status->arming_state == ARMING_STATE_INIT) { - mavlink_log_critical(mavlink_fd, "Switched to ERROR arming state"); - valid_transition = true; - } break; - case ARMING_STATE_REBOOT: + case SYSTEM_STATE_AUTO: - if (current_status->arming_state == ARMING_STATE_STANDBY - || current_status->arming_state == ARMING_STATE_ERROR) { + /* transitions from INIT or from other modes */ + if (current_system_state == SYSTEM_STATE_INIT + || current_system_state == SYSTEM_STATE_MANUAL + || current_system_state == SYSTEM_STATE_SEATBELT) { - valid_transition = true; - mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); - usleep(500000); - up_systemreset(); - /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ + ret = OK; } break; - case ARMING_STATE_IN_AIR_RESTORE: + case SYSTEM_STATE_REBOOT: - if (current_status->arming_state == ARMING_STATE_INIT) { - mavlink_log_critical(mavlink_fd, "Switched to IN-AIR-RESTORE arming state"); - valid_transition = true; - } - break; - default: - warnx("Unknown arming state"); - break; - } - } + /* from INIT you can go straight to REBOOT */ + if (current_system_state == SYSTEM_STATE_INIT) { - if (valid_transition) { - current_status->arming_state = new_state; - state_machine_publish(status_pub, current_status, mavlink_fd); -// publish_armed_status(current_status); - ret = OK; - } else { - mavlink_log_critical(mavlink_fd, "REJECTING invalid arming state transition"); - } - - return ret; -} - -/** - * Transition from one hil state to another - */ -int do_hil_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state) -{ - bool valid_transition = false; - int ret = ERROR; - - warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state); - - if (current_status->hil_state == new_state) { - warnx("Hil state not changed"); - valid_transition = true; - - } else { - - switch (new_state) { - - case HIL_STATE_OFF: - - if (current_status->arming_state == ARMING_STATE_INIT - || current_status->arming_state == ARMING_STATE_STANDBY) { - - current_status->flag_hil_enabled = false; - mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); - valid_transition = true; + ret = OK; } break; - case HIL_STATE_ON: + case SYSTEM_STATE_IN_AIR_RESTORE: - if (current_status->arming_state == ARMING_STATE_INIT - || current_status->arming_state == ARMING_STATE_STANDBY) { + /* from INIT you can go straight to an IN AIR RESTORE */ + if (current_system_state == SYSTEM_STATE_INIT) { - current_status->flag_hil_enabled = true; - mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); - valid_transition = true; + ret = OK; } break; default: - warnx("Unknown hil state"); break; } } - if (valid_transition) { - current_status->hil_state = new_state; - state_machine_publish(status_pub, current_status, mavlink_fd); - ret = OK; - } else { - mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); - } - return ret; } +///** +// * Transition from one arming state to another +// */ +//int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state) +//{ +// bool valid_transition = false; +// int ret = ERROR; +// +// warnx("Current state: %d, requested state: %d", current_status->arming_state, new_state); +// +// if (current_status->arming_state == new_state) { +// warnx("Arming state not changed"); +// valid_transition = true; +// +// } else { +// +// switch (new_state) { +// +// case ARMING_STATE_INIT: +// +// if (current_status->arming_state == ARMING_STATE_STANDBY) { +// +// mavlink_log_critical(mavlink_fd, "Switched to INIT ARMING STATE"); +// valid_transition = true; +// } +// break; +// +// case ARMING_STATE_STANDBY: +// +// // TODO check for sensors +// // XXX check if coming from reboot? +// if (current_status->arming_state == ARMING_STATE_INIT) { +// +// if (current_status->flag_system_sensors_initialized) { +// current_status->flag_system_armed = false; +// mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); +// valid_transition = true; +// } else { +// mavlink_log_critical(mavlink_fd, "REJ. STANDBY arming state, sensors not init."); +// } +// +// } else if (current_status->arming_state == ARMING_STATE_ARMED) { +// +// current_status->flag_system_armed = false; +// mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); +// valid_transition = true; +// } +// break; +// +// case ARMING_STATE_ARMED: +// +// if (current_status->arming_state == ARMING_STATE_STANDBY +// || current_status->arming_state == ARMING_STATE_IN_AIR_RESTORE) { +// current_status->flag_system_armed = true; +// mavlink_log_critical(mavlink_fd, "Switched to ARMED arming state"); +// valid_transition = true; +// } +// break; +// +// case ARMING_STATE_ABORT: +// +// if (current_status->arming_state == ARMING_STATE_ARMED) { +// +// mavlink_log_critical(mavlink_fd, "Switched to MISSION ABORT arming state"); +// valid_transition = true; +// } +// break; +// +// case ARMING_STATE_ERROR: +// +// if (current_status->arming_state == ARMING_STATE_ARMED +// || current_status->arming_state == ARMING_STATE_ABORT +// || current_status->arming_state == ARMING_STATE_INIT) { +// +// mavlink_log_critical(mavlink_fd, "Switched to ERROR arming state"); +// valid_transition = true; +// } +// break; +// +// case ARMING_STATE_REBOOT: +// +// if (current_status->arming_state == ARMING_STATE_STANDBY +// || current_status->arming_state == ARMING_STATE_ERROR) { +// +// valid_transition = true; +// mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); +// usleep(500000); +// up_systemreset(); +// /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ +// } +// break; +// +// case ARMING_STATE_IN_AIR_RESTORE: +// +// if (current_status->arming_state == ARMING_STATE_INIT) { +// mavlink_log_critical(mavlink_fd, "Switched to IN-AIR-RESTORE arming state"); +// valid_transition = true; +// } +// break; +// default: +// warnx("Unknown arming state"); +// break; +// } +// } +// +// if (valid_transition) { +// current_status->arming_state = new_state; +// state_machine_publish(status_pub, current_status, mavlink_fd); +//// publish_armed_status(current_status); +// ret = OK; +// } else { +// mavlink_log_critical(mavlink_fd, "REJECTING invalid arming state transition"); +// } +// +// return ret; +//} + +///** +// * Transition from one hil state to another +// */ +//int do_hil_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state) +//{ +// bool valid_transition = false; +// int ret = ERROR; +// +// warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state); +// +// if (current_status->hil_state == new_state) { +// warnx("Hil state not changed"); +// valid_transition = true; +// +// } else { +// +// switch (new_state) { +// +// case HIL_STATE_OFF: +// +// if (current_status->arming_state == ARMING_STATE_INIT +// || current_status->arming_state == ARMING_STATE_STANDBY) { +// +// current_status->flag_hil_enabled = false; +// mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); +// valid_transition = true; +// } +// break; +// +// case HIL_STATE_ON: +// +// if (current_status->arming_state == ARMING_STATE_INIT +// || current_status->arming_state == ARMING_STATE_STANDBY) { +// +// current_status->flag_hil_enabled = true; +// mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); +// valid_transition = true; +// } +// break; +// +// default: +// warnx("Unknown hil state"); +// break; +// } +// } +// +// if (valid_transition) { +// current_status->hil_state = new_state; +// state_machine_publish(status_pub, current_status, mavlink_fd); +// ret = OK; +// } else { +// mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); +// } +// +// return ret; +//} + void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) |