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ArmStateMachine: move arm state into the class

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This commit is contained in:
Matthias Grob
2022-05-17 13:49:06 +02:00
parent 47532ca07b
commit 37c485ce89
4 changed files with 90 additions and 83 deletions
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src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp
+15 -3
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@@ -52,7 +52,7 @@ public:
ArmStateMachine() = default;
~ArmStateMachine() = default;
static const char *getArmingStateName(uint8_t arming_state);
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,
@@ -61,9 +61,21 @@ public:
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);
private:
static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state);
// Getters
uint8_t getArmState() const { return _arm_state; }
bool isInit() const { return (_arm_state == vehicle_status_s::ARMING_STATE_INIT); }
bool isStandby() const { return (_arm_state == vehicle_status_s::ARMING_STATE_STANDBY); }
bool isArmed() const { return (_arm_state == vehicle_status_s::ARMING_STATE_ARMED); }
bool isShutdown() const { return (_arm_state == vehicle_status_s::ARMING_STATE_SHUTDOWN); }
static const char *getArmStateName(uint8_t arming_state);
const char *getArmStateName() const { return getArmStateName(_arm_state); }
private:
static inline events::px4::enums::arming_state_t getArmStateEvent(uint8_t arming_state);
uint8_t _arm_state{vehicle_status_s::ARMING_STATE_INIT};
hrt_abstime _last_preflight_check = 0; ///< initialize so it gets checked immediately
// This array defines the arming state transitions. The rows are the new state, and the columns