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commander: rework arming checks to use the events interface

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This commit is contained in:
Beat Küng
2022-06-01 14:56:26 +02:00
committed by Daniel Agar
parent b4a3597c7d
commit 6d1fb92eb7
70 changed files with 3738 additions and 2423 deletions
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src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+142
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/****************************************************************************
*
* Copyright (c) 2019-2020 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 "modeCheck.hpp"
void ModeChecks::checkAndReport(const Context &context, Report &reporter)
{
if (!context.isArmed()) {
checkArmingRequirement(context, reporter);
}
// Failing mode requirements generally also clear the can_run bits which prevents mode switching and
// might trigger a failsafe if already in that mode.
if (!reporter.failsafeFlags().angular_velocity_valid && reporter.failsafeFlags().mode_req_angular_velocity != 0) {
/* EVENT
* @description
* Make sure the gyroscope is providing valid data.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_angular_velocity, health_component_t::system,
events::ID("check_modes_angular_velocity"),
events::Log::Critical, "Angular velocity not valid");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_angular_velocity);
}
if (!reporter.failsafeFlags().attitude_valid && reporter.failsafeFlags().mode_req_attitude != 0) {
/* EVENT
* @description
* Wait until the estimator initialized
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system,
events::ID("check_modes_attitude"),
events::Log::Critical, "No valid attitude estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
}
if (!reporter.failsafeFlags().local_position_valid && reporter.failsafeFlags().mode_req_local_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_position, health_component_t::system,
events::ID("check_modes_local_pos"),
events::Log::Error, "No valid local position estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_position);
}
if (!reporter.failsafeFlags().global_position_valid && reporter.failsafeFlags().mode_req_global_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
events::ID("check_modes_global_pos"),
events::Log::Error, "No valid global position estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
}
if (!reporter.failsafeFlags().local_altitude_valid && reporter.failsafeFlags().mode_req_local_alt != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_local_alt, health_component_t::system,
events::ID("check_modes_local_alt"),
events::Log::Critical, "No valid altitude estimate");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_local_alt);
}
if (!reporter.failsafeFlags().auto_mission_available && reporter.failsafeFlags().mode_req_mission != 0) {
/* EVENT
* @description
* Upload a mission first.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_mission, health_component_t::system,
events::ID("check_modes_mission"),
events::Log::Info, "No mission available");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_mission);
}
if (reporter.failsafeFlags().offboard_control_signal_lost && reporter.failsafeFlags().mode_req_offboard_signal != 0) {
/* EVENT
* @description
* The offboard component is not sending setpoints.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_offboard_signal, health_component_t::system,
events::ID("check_modes_offboard_signal"),
events::Log::Error, "No offboard signal");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_offboard_signal);
}
if (!reporter.failsafeFlags().home_position_valid && reporter.failsafeFlags().mode_req_home_position != 0) {
/* EVENT
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_home_position, health_component_t::system,
events::ID("check_modes_home_position"),
events::Log::Info, "Home position not set");
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_home_position);
}
if (reporter.failsafeFlags().mode_req_other != 0) {
// Here we expect there is already an event reported for the failing check (this is for external modes)
reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_other);
}
}
void ModeChecks::checkArmingRequirement(const Context &context, Report &reporter)
{
if (reporter.failsafeFlags().mode_req_prevent_arming & (1u << context.status().nav_state)) {
/* EVENT
* @description
* Switch to another mode first.
*/
reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_prevent_arming, health_component_t::system,
events::ID("check_modes_cannot_takeoff"),
events::Log::Info, "Mode not suitable for arming");
}
}