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Diffstat (limited to 'apps/commander/state_machine_helper.h')
-rw-r--r-- | apps/commander/state_machine_helper.h | 133 |
1 files changed, 133 insertions, 0 deletions
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h new file mode 100644 index 000000000..0abc6349c --- /dev/null +++ b/apps/commander/state_machine_helper.h @@ -0,0 +1,133 @@ +/**************************************************************************** + * + * 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 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> +#include <v1.0/common/mavlink.h> + + +/* + * @brief 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, ...) + * + * + */ +void do_state_update(int status_pub, struct vehicle_status_s *current_status, 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); + + +/* + * @brief handle state machine if got position fix + */ +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if position fix lost + */ +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if user wants to arm + */ +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if user wants to disarm + */ +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if mode switch is manual + */ +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if mode switch is stabilized + */ +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status); + +/* + * @brief handle state machine if mode switch is auto + */ +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status); + + + + +/* + * 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 + * + */ + +/* + * @brief handles *incoming request* to switch to a specific state, if state change is successful returns 0 + */ +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode); + +/* + * @brief handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 + */ +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode); + + +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status); +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status); + + + + +#endif /* STATE_MACHINE_HELPER_H_ */ |