/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * Julian Oes * * 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 #include /** * 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_ */