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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/state_machine_helper.cpp
-196
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@@ -61,22 +61,6 @@ static constexpr const char reason_no_datalink[] = "no datalink";
static constexpr const char reason_no_rc_and_no_datalink[] = "no RC and no datalink";
static constexpr const char reason_no_gps[] = "no GPS";
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
= {
// INIT, STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_SHUTDOWN */ true, true, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
};
// You can index into the array with an arming_state_t in order to get its textual representation
const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"INIT",
@@ -87,28 +71,6 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"IN_AIR_RESTORE",
};
static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state)
{
switch (arming_state) {
case vehicle_status_s::ARMING_STATE_INIT: return events::px4::enums::arming_state_t::init;
case vehicle_status_s::ARMING_STATE_STANDBY: return events::px4::enums::arming_state_t::standby;
case vehicle_status_s::ARMING_STATE_ARMED: return events::px4::enums::arming_state_t::armed;
case vehicle_status_s::ARMING_STATE_STANDBY_ERROR: return events::px4::enums::arming_state_t::standby_error;
case vehicle_status_s::ARMING_STATE_SHUTDOWN: return events::px4::enums::arming_state_t::shutdown;
case vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE: return events::px4::enums::arming_state_t::inair_restore;
}
static_assert(vehicle_status_s::ARMING_STATE_MAX - 1 == (int)events::px4::enums::arming_state_t::inair_restore,
"enum def mismatch");
return events::px4::enums::arming_state_t::init;
}
// You can index into the array with an navigation_state_t in order to get its textual representation
const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"MANUAL",
@@ -135,8 +97,6 @@ const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"ORBIT"
};
static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately
void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, link_loss_actions_t link_loss_act,
const float ll_delay);
@@ -159,162 +119,6 @@ void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsaf
const offboard_loss_actions_t offboard_loss_act,
const offboard_loss_rc_actions_t offboard_loss_rc_act);
transition_result_t arming_state_transition(vehicle_status_s &status,
const vehicle_control_mode_s &control_mode, const safety_s &safety,
const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
const PreFlightCheck::arm_requirements_t &arm_requirements,
const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
static_assert(vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE == vehicle_status_s::ARMING_STATE_MAX - 1,
"ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1");
transition_result_t ret = TRANSITION_DENIED;
arming_state_t current_arming_state = status.arming_state;
bool feedback_provided = false;
const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == current_arming_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
/*
* Get sensing state if necessary
*/
bool preflight_check_ret = true;
/* only perform the pre-arm check if we have to */
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode,
true, true, time_since_boot);
if (preflight_check_ret) {
status_flags.system_sensors_initialized = true;
}
feedback_provided = true;
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags.system_sensors_initialized
&& fRunPreArmChecks
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& !hil_enabled) {
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags.system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status,
status_flags, control_mode, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED,
time_since_boot);
last_preflight_check = hrt_absolute_time();
}
}
// Check that we have a valid state transition
bool valid_transition = arming_transitions[new_arming_state][status.arming_state];
if (valid_transition) {
// We have a good transition. Now perform any secondary validation.
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// Do not perform pre-arm checks if coming from in air restore
// Allow if vehicle_status_s::HIL_STATE_ON
if (status.arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE) {
bool prearm_check_ret = true;
if (fRunPreArmChecks && preflight_check_ret) {
// only bother running prearm if preflight was successful
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety, arm_requirements,
status);
}
if (!preflight_check_ret || !prearm_check_ret) {
// the prearm and preflight checks already print the rejection reason
feedback_provided = true;
valid_transition = false;
}
}
}
}
if (hil_enabled) {
/* enforce lockdown in HIL */
armed.lockdown = true;
status_flags.system_sensors_initialized = true;
/* recover from a prearm fail */
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
status.arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
}
// HIL can always go to standby
if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
valid_transition = true;
}
}
if (!hil_enabled &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status.arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
// Sensors need to be initialized for STANDBY state, except for HIL
if (!status_flags.system_sensors_initialized) {
feedback_provided = true;
valid_transition = false;
}
}
// Finish up the state transition
if (valid_transition) {
bool was_armed = armed.armed;
armed.armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed.ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
ret = TRANSITION_CHANGED;
status.arming_state = new_arming_state;
if (was_armed && !armed.armed) { // disarm transition
status.latest_disarming_reason = (uint8_t)calling_reason;
} else if (!was_armed && armed.armed) { // arm transition
status.latest_arming_reason = (uint8_t)calling_reason;
}
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
status.armed_time = hrt_absolute_time();
} else {
status.armed_time = 0;
}
}
}
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
// FIXME: this catch-all does not provide helpful information to the user
mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s\t",
arming_state_names[status.arming_state], arming_state_names[new_arming_state]);
events::send<events::px4::enums::arming_state_t, events::px4::enums::arming_state_t>(
events::ID("commander_transition_denied"), events::Log::Critical,
"Arming state transition denied: {1} to {2}",
eventArmingState(status.arming_state), eventArmingState(new_arming_state));
}
}
return ret;
}
transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
const vehicle_status_flags_s &status_flags, commander_state_s &internal_state)