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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.
This commit is contained in:
Philipp Oettershagen
committed by
Beat Küng
Beat Küng
parent
40e6a5a39b
commit
6f1f414b49
@@ -44,6 +44,7 @@ set(SRCS
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pid/pid.c
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pwm_limit/pwm_limit.c
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rc_check.c
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subsystem_info_pub.cpp
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)
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if(${OS} STREQUAL "nuttx")
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@@ -0,0 +1,148 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file subsystem_info_pub.cpp
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*
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* Contains helper functions to efficiently publish the subsystem_info messages from various locations inside the code. It is basically a
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* helper function for commander. Approach:
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* - Before commander starts (which happens after some of the drivers have already published the respective subsystem_info), this helper
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* code stores all requests for a publish_subsystem_info in the internal_status variable
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* - When commander starts up, it calls the publish_subsystem_info_init function. This 1) copies the internal_status into commander's
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* vehicle status variable and 2) assigns the status pointer to commanders vehicle status
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* - After that, all requests to publish_subsystem_info are directly written to commander's vehicle status such that it is always up
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* to date. Commander then publishes the vehicle_status uORB (and is in fact the only app that does that, which is why this approach works)
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*
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* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
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*/
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#include "subsystem_info_pub.h"
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vehicle_status_s internal_status = {};
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vehicle_status_s *status = &internal_status;
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bool *status_changed = nullptr;
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/* initialize pointer to commander's vehicle status variable */
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void publish_subsystem_info_init(vehicle_status_s *commander_vehicle_status_ptr, bool *commander_status_changed_ptr)
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{
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status = commander_vehicle_status_ptr;
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status_changed = commander_status_changed_ptr;
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status->onboard_control_sensors_present = internal_status.onboard_control_sensors_present;
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status->onboard_control_sensors_enabled = internal_status.onboard_control_sensors_enabled;
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status->onboard_control_sensors_health = internal_status.onboard_control_sensors_health;
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*status_changed = true;
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}
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/* Writes the full state information for a specific subsystem type, either directly into commander's vehicle
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* status variable or into an internal variable that is later copied to commander's vehicle status variable*/
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void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok)
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{
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PX4_DEBUG("publish_subsystem_info (ext:%u): Type %llu pres=%u enabl=%u ok=%u", status != &internal_status,
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subsystem_type, present, enabled, ok);
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if (present) {
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status->onboard_control_sensors_present |= (uint32_t)subsystem_type;
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} else {
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status->onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
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}
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if (enabled) {
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status->onboard_control_sensors_enabled |= (uint32_t)subsystem_type;
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} else {
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status->onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
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}
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if (ok) {
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status->onboard_control_sensors_health |= (uint32_t)subsystem_type;
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} else {
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status->onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
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}
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if (status != &internal_status) { *status_changed = true; }
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}
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void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy)
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{
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publish_subsystem_info(subsystem_type, present, getEnabled(subsystem_type), healthy);
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}
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void publish_subsystem_info_present_enabled(uint64_t subsystem_type, bool present, bool enabled)
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{
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publish_subsystem_info(subsystem_type, present, enabled, getHealthy(subsystem_type));
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}
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void publish_subsystem_info_enabled_healthy(uint64_t subsystem_type, bool enabled, bool ok)
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{
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publish_subsystem_info(subsystem_type, getPresent(subsystem_type), enabled, ok);
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}
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void publish_subsystem_info_enabled(uint64_t subsystem_type, bool enabled)
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{
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publish_subsystem_info(subsystem_type, getPresent(subsystem_type), enabled, getHealthy(subsystem_type));
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}
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void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok)
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{
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publish_subsystem_info(subsystem_type, getPresent(subsystem_type), getEnabled(subsystem_type), ok);
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}
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void publish_subsystem_info_print()
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{
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uint64_t type = 1;
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for (int i = 1; i < 31; i++) {
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PX4_DEBUG("subsystem_info: Type %llu pres=%u enabl=%u ok=%u", type,
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(status->onboard_control_sensors_present & (uint32_t)type) > 0,
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(status->onboard_control_sensors_enabled & (uint32_t)type) > 0,
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(status->onboard_control_sensors_health & (uint32_t)type) > 0);
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type = type * 2;
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}
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}
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// Local helper functions
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bool getPresent(uint64_t subsystem_type)
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{
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return status->onboard_control_sensors_present & (uint32_t)subsystem_type;
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}
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bool getEnabled(uint64_t subsystem_type)
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{
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return status->onboard_control_sensors_enabled & (uint32_t)subsystem_type;
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}
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bool getHealthy(uint64_t subsystem_type)
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{
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return status->onboard_control_sensors_health & (uint32_t)subsystem_type;
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}
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@@ -0,0 +1,62 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file subsystem_info_pub.h
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*
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* Contains helper functions to efficiently publish the subsystem_info topic from various locations inside the code.
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*
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* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
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*/
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#pragma once
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#include <px4_log.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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void publish_subsystem_info_init(vehicle_status_s *commander_vehicle_status_ptr, bool *commander_status_changed_ptr);
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void publish_subsystem_info(uint64_t subsystem_type, bool present, bool enabled, bool ok);
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void publish_subsystem_info_present_healthy(uint64_t subsystem_type, bool present, bool healthy);
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void publish_subsystem_info_present_enabled(uint64_t subsystem_type, bool present, bool enabled);
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void publish_subsystem_info_enabled_healthy(uint64_t subsystem_type, bool enabled, bool ok);
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void publish_subsystem_info_enabled(uint64_t subsystem_type, bool enabled);
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void publish_subsystem_info_healthy(uint64_t subsystem_type, bool ok);
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void publish_subsystem_info_print();
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// Local helper functions
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bool getPresent(uint64_t subsystem_type);
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bool getEnabled(uint64_t subsystem_type);
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bool getHealthy(uint64_t subsystem_type);
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