1 files changed, 19 insertions, 149 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 2f2ccc729..0bfdf36a8 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
  *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
  *           Julian Oes <joes@student.ethz.ch>
  *
@@ -46,164 +46,34 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/safety.h>
+#include <uORB/topics/vehicle_control_mode.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);
+typedef enum {
+	TRANSITION_DENIED = -1,
+	TRANSITION_NOT_CHANGED = 0,
+	TRANSITION_CHANGED
 
-/* 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);
+} transition_result_t;
 
-// 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);
+transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
+		const struct vehicle_control_mode_s *control_mode, arming_state_t new_arming_state, struct actuator_armed_s *armed);
 
-// 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);
+bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
 
+bool check_arming_state_changed();
 
-/**
- * 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);
+transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
 
-/**
- * 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);
+bool check_main_state_changed();
 
-/**
- * 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);
+transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode);
 
-/**
- * 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);
+bool check_navigation_state_changed();
 
+void set_navigation_state_changed();
 
+int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd);
 
 #endif /* STATE_MACHINE_HELPER_H_ */