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Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent 40e6a5a39b
commit 6f1f414b49
31 changed files with 427 additions and 266 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/batt_smbus/batt_smbus.cpp
-1
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@@ -53,7 +53,6 @@
#include <px4_workqueue.h>
#include <perf/perf_counter.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/uORB.h>
#define BATT_SMBUS_ADDR_MIN 0x00 ///< lowest possible address
src/drivers/differential_pressure/ets/ets_airspeed.cpp
-1
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@@ -54,7 +54,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/airspeed/airspeed.h>
/* I2C bus address */
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
-1
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@@ -66,7 +66,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>
#include <drivers/airspeed/airspeed.h>
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+2 -17
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@@ -58,6 +58,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -73,7 +74,6 @@
/* Configuration Constants */
#define SR04_DEVICE_PATH "/dev/hc_sr04"
#define SUBSYSTEM_TYPE_RANGEFINDER 131072
/* Device limits */
#define SR04_MIN_DISTANCE (0.10f)
#define SR04_MAX_DISTANCE (4.00f)
@@ -626,22 +626,7 @@ HC_SR04::start()
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+2 -16
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@@ -61,6 +61,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -590,22 +591,7 @@ MB12XX::start()
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 5);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/sf0x/sf0x.cpp
+1 -15
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@@ -66,7 +66,6 @@
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include "sf0x_parser.h"
@@ -645,20 +644,7 @@ SF0X::start()
work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, 1);
// /* notify about state change */
// struct subsystem_info_s info = {
// true,
// true,
// true,
// SUBSYSTEM_TYPE_RANGEFINDER
// };
// static orb_advert_t pub = -1;
// if (pub > 0) {
// orb_publish(ORB_ID(subsystem_info), pub, &info);
// } else {
// pub = orb_advertise(ORB_ID(subsystem_info), &info);
// }
// publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+5
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@@ -64,12 +64,14 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -584,6 +586,9 @@ SF1XX::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SF1XX::cycle_trampoline, this, USEC2TICK(_conversion_interval));
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/srf02/srf02.cpp
+2 -16
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@@ -60,6 +60,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -593,22 +594,7 @@ SRF02::start()
work_queue(HPWORK, &_work, (worker_t)&SRF02::cycle_trampoline, this, 5);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/teraranger/teraranger.cpp
+2 -14
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@@ -60,6 +60,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -670,20 +671,7 @@ TERARANGER::start()
work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/tfmini/tfmini.cpp
+2 -16
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@@ -61,6 +61,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -609,22 +610,7 @@ TFMINI::start()
work_queue(HPWORK, &_work, (worker_t)&TFMINI::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/pwm_input/pwm_input.cpp
-1
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@@ -73,7 +73,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/pwm_input.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/drv_device.h>
#include <drivers/device/device.h>
src/drivers/px4flow/px4flow.cpp
+2 -14
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@@ -65,6 +65,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <systemlib/subsystem_info_pub.h>
#include <conversion/rotation.h>
@@ -589,20 +590,7 @@ PX4FLOW::start()
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW, true, true, true);
}
void