1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
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_ */
|
