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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
2018-05-26 01:06:14 +02:00
committed by Beat Küng
parent f5847a4a7b
commit 075009be2f
13 changed files with 211 additions and 202 deletions
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src/modules/systemlib/CMakeLists.txt
-1
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@@ -44,7 +44,6 @@ set(SRCS
pid/pid.c
pwm_limit/pwm_limit.c
rc_check.c
subsystem_info_pub.cpp
)
if(${OS} STREQUAL "nuttx")
src/modules/systemlib/subsystem_info_pub.cpp
-129
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@@ -1,129 +0,0 @@
/****************************************************************************
*
* 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>
static orb_advert_t pub = nullptr;
struct subsystem_info_s info = {};
struct vehicle_status_s status;
void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok)
{
PX4_INFO("publish_subsystem_info: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);
// Keep a local copy of the status flags. Because we use queuing, it could be that the flags in the vehicle_status topics are
// not up to date. When using those publish_subsystem_info_xxx functions that only write a subset of health flags but leave others
// unchanged, we'd write outdated health flags to vehicle_status. Having an up to date local copy resolves that issue.
if (present) {
status.onboard_control_sensors_present |= (uint32_t)subsystem_type;
} else {
status.onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
}
if (enabled) {
status.onboard_control_sensors_enabled |= (uint32_t)subsystem_type;
} else {
status.onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
}
if (ok) {
status.onboard_control_sensors_health |= (uint32_t)subsystem_type;
} else {
status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
}
/* Publish the subsystem_info message */
info.present = present;
info.enabled = enabled;
info.ok = ok;
info.subsystem_type = subsystem_type;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise_queue(ORB_ID(subsystem_info), &info, subsystem_info_s::ORB_QUEUE_LENGTH);
}
}
void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy)
{
publish_subsystem_info(subsystem_type, present, getEnabled(subsystem_type), healthy);
}
void publish_subsystem_info_present_enabled(uint64_t subsystem_type, bool present, bool enabled)
{
publish_subsystem_info(subsystem_type, present, enabled, getHealthy(subsystem_type));
}
void publish_subsystem_info_enabled_healthy(uint64_t subsystem_type, bool enabled, bool ok)
{
publish_subsystem_info(subsystem_type, getPresent(subsystem_type), enabled, ok);
}
void publish_subsystem_info_enabled(uint64_t subsystem_type, bool enabled)
{
publish_subsystem_info(subsystem_type, getPresent(subsystem_type), enabled, getHealthy(subsystem_type));
}
void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok)
{
publish_subsystem_info(subsystem_type, getPresent(subsystem_type), getEnabled(subsystem_type), ok);
}
// Local helper functions
bool getPresent(uint64_t subsystem_type)
{
return status.onboard_control_sensors_present & (uint32_t)subsystem_type;
}
bool getEnabled(uint64_t subsystem_type)
{
return status.onboard_control_sensors_enabled & (uint32_t)subsystem_type;
}
bool getHealthy(uint64_t subsystem_type)
{
return status.onboard_control_sensors_health & (uint32_t)subsystem_type;
}
src/modules/systemlib/subsystem_info_pub.h
-59
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@@ -1,59 +0,0 @@
/****************************************************************************
*
* 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);
void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy);
void publish_subsystem_info_present_enabled(uint64_t subsystem_type, bool present, bool enabled);
void publish_subsystem_info_enabled_healthy(uint64_t subsystem_type, bool enabled, bool ok);
void publish_subsystem_info_enabled(uint64_t subsystem_type, bool enabled);
void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok);
//// Local helper functions
bool getPresent(uint64_t subsystem_type);
bool getEnabled(uint64_t subsystem_type);
bool getHealthy(uint64_t subsystem_type);