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Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder"

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent f5847a4a7b
commit 075009be2f
13 changed files with 211 additions and 202 deletions
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src/lib/CMakeLists.txt
+1
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@@ -48,3 +48,4 @@ add_subdirectory(rc)
add_subdirectory(terrain_estimation)
add_subdirectory(tunes)
add_subdirectory(version)
add_subdirectory(subsystem_info_pub)
src/lib/subsystem_info_pub/CMakeLists.txt
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@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_library(subsystem_info_pub subsystem_info_pub.cpp)
src/lib/subsystem_info_pub/subsystem_info_pub.cpp
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@@ -0,0 +1,110 @@
/****************************************************************************
*
* Copyright (c) 2013 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 subsystem_info_pub.cpp
*
* Contains helper functions to efficiently publish the subsystem_info messages from various locations inside the code.
*
* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
*/
#include "subsystem_info_pub.h"
#include <uORB/topics/subsystem_info.h>
orb_advert_t subsys_pub = nullptr;
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s *status_ptr)
{
PX4_DEBUG("publish_subsystem_info (method:%s): Type %llu pres=%u enabl=%u ok=%u",
status_ptr == nullptr ? "publish" : "local", subsystem_type, present, enabled, ok);
if (status_ptr == nullptr) {
/* Publish the subsystem_info message via uORB. This is the case when this
* function was called from a module outside of commander */
struct subsystem_info_s subsys_info = {};
subsys_info.present = present;
subsys_info.enabled = enabled;
subsys_info.ok = ok;
subsys_info.subsystem_type = subsystem_type;
if (subsys_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), subsys_pub, &subsys_info);
} else {
subsys_pub = orb_advertise_queue(ORB_ID(subsystem_info), &subsys_info, subsystem_info_s::ORB_QUEUE_LENGTH);
}
} else {
/* Update locally, i.e. directly using the supplied status_ptr. This happens
* when this function was called from inside commander*/
if (present) {
status_ptr->onboard_control_sensors_present |= (uint32_t)subsystem_type;
} else {
status_ptr->onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
}
if (enabled) {
status_ptr->onboard_control_sensors_enabled |= (uint32_t)subsystem_type;
} else {
status_ptr->onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
}
if (ok) {
status_ptr->onboard_control_sensors_health |= (uint32_t)subsystem_type;
} else {
status_ptr->onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
}
}
}
void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy,
vehicle_status_s *status_ptr)
{
struct vehicle_status_s status;
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
publish_subsystem_info(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type,
healthy, status_ptr);
}
void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok, vehicle_status_s *status_ptr)
{
struct vehicle_status_s status;
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
publish_subsystem_info(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type,
status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, ok, status_ptr);
}
src/lib/subsystem_info_pub/subsystem_info_pub.h
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@@ -0,0 +1,52 @@
/****************************************************************************
*
* Copyright (c) 2013 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 subsystem_info_pub.h
*
* Contains helper functions to efficiently publish the subsystem_info topic from various locations inside the code.
*
* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
*/
#pragma once
#include <px4_log.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok,
vehicle_status_s *status_ptr = nullptr);
void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy,
vehicle_status_s *status_ptr = nullptr);
void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok, vehicle_status_s *status_ptr = nullptr);