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/****************************************************************************
*
* Copyright (C) 2012 - 2014 PX4 Development Team. All rights reserved.
*
* 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 commander_request.h
* Definition of the commander_request uORB topic.
*
* Commander_requests are requests to commander for vehicle status changes.
*
* Commander is the responsible app for managing system related tasks
* and setting vehicle statuses other apps must make request for commander
* if system related task or system state change is needed.
*
* Commander will process this request and decide what to do with it.
*
* @author Martins Frolovs <martins.f@airdog.com>
*/
#ifndef COMMANDER_REQUEST_H_
#define COMMANDER_REQUEST_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "vehicle_status.h"
/**
* @addtogroup topics @{
*/
/**
* Request type.
*/
typedef enum {
V_MAIN_STATE_CHANGE = 0,
V_DISARM,
V_NAVIGATION_STATE_CHANGE
} request_type_t;
struct commander_request_s {
request_type_t request_type;
main_state_t main_state;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(commander_request);
#endif
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