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/****************************************************************************
*
* 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.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 <uORB/uORB.h>
#include <uORB/topics/vehicle_status.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);
/* 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_ */
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