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commander/safety: replace safety.msg with Safety class (#19558)

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This commit is contained in:
Igor Misic
2022-05-23 06:54:37 +02:00
committed by Beat Küng
parent b800600a6c
commit 08dcc72e1f
15 changed files with 106 additions and 126 deletions
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src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp
+4 -3
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@@ -39,7 +39,7 @@ constexpr bool
ArmStateMachine::arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX];
transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &status,
const vehicle_control_mode_s &control_mode, const safety_s &safety,
const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
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,
@@ -112,8 +112,9 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
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);
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode,
safety_button_available, safety_off,
arm_requirements, status);
}
if (!preflight_check_ret || !prearm_check_ret) {
src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp
+2 -3
View File
@@ -37,7 +37,6 @@
#include <drivers/drv_hrt.h>
#include <px4_platform_common/events.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
@@ -55,8 +54,8 @@ public:
void forceArmState(uint8_t new_arm_state) { _arm_state = new_arm_state; }
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,
arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode,
const bool safety_button_available, const bool safety_off, 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);
src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp
+8 -10
View File
@@ -55,7 +55,7 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
hil_state_t hil_state; // Current vehicle_status_s.hil_state
bool
system_sensors_initialized; // Current vehicle_status_s.system_sensors_initialized
bool safety_switch_available; // Current safety_s.safety_switch_available
bool safety_button_available; // Current safety_s.safety_button_available
bool safety_off; // Current safety_s.safety_off
arming_state_t requested_state; // Requested arming state to transition to
ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
@@ -166,17 +166,17 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
},
// Safety switch arming tests
// Safety button arming tests
{
"transition: standby to armed, no safety switch",
"transition: standby to armed, no safety button",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
},
{
"transition: standby to armed, safety switch off",
"transition: standby to armed, safety button off",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
@@ -242,10 +242,10 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
// vehicle_status_s::ARMING_STATE_STANDBY,
// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
// Safety switch arming tests
// safety button arming tests
{
"no transition: init to armed, safety switch on",
"no transition: init to armed, safety button on",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_DENIED
@@ -254,7 +254,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
struct vehicle_status_s status {};
struct vehicle_status_flags_s status_flags {};
struct safety_s safety {};
struct actuator_armed_s armed {};
size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
@@ -270,8 +269,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
status.hil_state = test->hil_state;
// The power status of the test unit is not relevant for the unit test
status_flags.circuit_breaker_engaged_power_check = true;
safety.safety_switch_available = test->safety_switch_available;
safety.safety_off = test->safety_off;
vehicle_control_mode_s control_mode{};
@@ -279,7 +276,8 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
transition_result_t result = arm_state_machine.arming_state_transition(
status,
control_mode,
safety,
test->safety_button_available,
test->safety_off,
test->requested_state,
armed,
true /* enable pre-arm checks */,
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+4 -4
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019 - 2022 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
@@ -41,11 +41,11 @@
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
#include "../../Safety.hpp"
typedef bool (*sens_check_func_t)(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
const bool is_mandatory, bool &report_fail);
@@ -94,8 +94,8 @@ public:
};
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const vehicle_control_mode_s &control_mode,
const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
const arm_requirements_t &arm_requirements, vehicle_status_s &status,
bool report_fail = true);
private:
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+5 -5
View File
@@ -39,8 +39,8 @@
#include <HealthFlags.h>
bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const vehicle_control_mode_s &control_mode,
const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
{
bool prearm_ok = true;
@@ -156,10 +156,10 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
// safety button
if (safety.safety_switch_available && !safety.safety_off) {
// Fail transition if we need safety switch press
if (safety_button_available && !safety_off) {
// Fail transition if we need safety button press
if (prearm_ok) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first"); }
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety button first"); }
}
prearm_ok = false;