commander preflight checks: new structure using events interface

- Reporter class that keeps track of results (list of events + whether arming is possible + health). And only reports when one or more checks change.
2026-07-05 12:20:35 +08:00 · 2020-01-27 09:55:41 +01:00
parent 04f7df3848
commit 07afcf4586
9 changed files with 1033 additions and 2 deletions
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#include "HealthAndArmingChecks.hpp"
+
+HealthAndArmingChecks::HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags,
+		vehicle_status_s &status)
+	: ModuleParams(parent),
+	  _context(status),
+	  _reporter(status_flags)
+{
+}
+
+bool HealthAndArmingChecks::update(bool force_reporting)
+{
+	_reporter.reset();
+
+	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
+		if (!_checks[i]) {
+			break;
+		}
+
+		_checks[i]->checkAndReport(_context, _reporter);
+	}
+
+	_reporter.finalize();
+
+	if (_reporter.report(_context.isArmed(), force_reporting)) {
+
+		return true;
+	}
+
+	return false;
+}
+
+void HealthAndArmingChecks::updateParams()
+{
+	for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
+		if (!_checks[i]) {
+			break;
+		}
+
+		_checks[i]->updateParams();
+	}
+}