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.
2026-10-23 03:03:34 +08:00 · 2022-08-25 22:02:15 -04:00
parent 04f7df3848
commit 07afcf4586
9 changed files with 1033 additions and 2 deletions
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "Common.hpp"
+
+#include <px4_platform_common/module_params.h>
+
+class HealthAndArmingChecks : public ModuleParams
+{
+public:
+	HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags, vehicle_status_s &status);
+	~HealthAndArmingChecks() = default;
+
+	/**
+	 * Run arming checks and report if necessary.
+	 * This should be called regularly (e.g. 1Hz).
+	 * @param force_reporting if true, force reporting even if nothing changed
+	 * @return true if there was a report (also when force_reporting=true)
+	 */
+	bool update(bool force_reporting = false);
+
+	/**
+	 * Whether arming is possible for a given navigation mode
+	 */
+	bool canArm(uint8_t nav_state) const { return _reporter.canArm(nav_state); }
+
+protected:
+	void updateParams() override;
+private:
+	Context _context;
+	Report _reporter;
+
+	// all checks
+	HealthAndArmingCheckBase *_checks[10] = {
+	};
+};
+