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Commander: separate out arm state machine to class

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Pure refactoring and just the first step to avoid conflicts on the way.
This commit is contained in:
Matthias Grob
2022-03-31 12:00:42 +02:00
parent 6e9c673262
commit 074080c816
10 changed files with 367 additions and 224 deletions
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src/modules/commander/Commander.cpp
+9 -8
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@@ -479,7 +479,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
bool Commander::shutdown_if_allowed()
{
return TRANSITION_DENIED != arming_state_transition(_status, _vehicle_control_mode, _safety,
return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
vehicle_status_s::ARMING_STATE_SHUTDOWN,
_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, _arm_requirements,
hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
@@ -732,7 +732,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
}
}
transition_result_t arming_res = arming_state_transition(_status, _vehicle_control_mode, _safety,
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
vehicle_status_s::ARMING_STATE_ARMED, _armed, run_preflight_checks,
&_mavlink_log_pub, _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
calling_reason);
@@ -774,7 +774,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
}
}
transition_result_t arming_res = arming_state_transition(_status, _vehicle_control_mode, _safety,
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
vehicle_status_s::ARMING_STATE_STANDBY, _armed, false,
&_mavlink_log_pub, _status_flags, _arm_requirements,
hrt_elapsed_time(&_boot_timestamp), calling_reason);
@@ -1368,7 +1368,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else {
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(_status, _vehicle_control_mode, safety_s{},
if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, safety_s{},
vehicle_status_s::ARMING_STATE_INIT, _armed,
false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
PreFlightCheck::arm_requirements_t{}, // arming requirements not relevant for switching to ARMING_STATE_INIT
@@ -2375,10 +2375,11 @@ Commander::run()
/* If in INIT state, try to proceed to STANDBY state */
if (!_status_flags.calibration_enabled && _status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
arming_state_transition(_status, _vehicle_control_mode, _safety, vehicle_status_s::ARMING_STATE_STANDBY, _armed,
true /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
_arm_requirements, hrt_elapsed_time(&_boot_timestamp),
arm_disarm_reason_t::transition_to_standby);
_arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
vehicle_status_s::ARMING_STATE_STANDBY, _armed,
true /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
_arm_requirements, hrt_elapsed_time(&_boot_timestamp),
arm_disarm_reason_t::transition_to_standby);
}
/* start mission result check */