safety and safety button: refactoring #19413

src/modules/commander/CMakeLists.txt

@@ -52,6 +52,7 @@ px4_add_module(
 		lm_fit.cpp
 		mag_calibration.cpp
 		rc_calibration.cpp
+		Safety.cpp
 		state_machine_helper.cpp
 		worker_thread.cpp
 	DEPENDS

src/modules/commander/Commander.cpp

@@ -784,6 +784,10 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 		events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_disarmed_by"), events::Log::Info,
 				"Disarmed by {1}", calling_reason);
 
+		if (_param_com_force_safety.get()) {
+			_safety_handler.enableSafety();
+		}
+
 		_status_changed = true;
 
 	} else if (arming_res == TRANSITION_DENIED) {
@@ -2196,6 +2200,8 @@ Commander::run()
 			}
 		}
 
+		_safety_handler.safetyButtonHandler();
+
 		/* update safety topic */
 		const bool safety_updated = _safety_sub.updated();
 

src/modules/commander/Commander.hpp

@@ -36,6 +36,7 @@
 /*   Helper classes  */
 #include "Arming/PreFlightCheck/PreFlightCheck.hpp"
 #include "failure_detector/FailureDetector.hpp"
+#include "Safety.hpp"
 #include "state_machine_helper.h"
 #include "worker_thread.hpp"
 
@@ -234,6 +235,7 @@ private:
 		(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
 
 		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
+		(ParamBool<px4::params::COM_FORCE_SAFETY>) _param_com_force_safety,
 		(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
 
 		(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
@@ -399,6 +401,8 @@ private:
 	vehicle_status_s        _status{};
 	vehicle_status_flags_s  _status_flags{};
 
+	Safety _safety_handler{};
+
 	WorkerThread _worker_thread;
 
 	// Subscriptions

src/modules/commander/Safety.cpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Safety.cpp
+ */
+
+#include "Safety.hpp"
+#include <circuit_breaker/circuit_breaker.h>
+
+using namespace time_literals;
+
+Safety::Safety()
+{
+	/*
+	 * Safety can be turned off with the CBRK_IO_SAFETY parameter.
+	 */
+	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
+}
+
+void Safety::safetyButtonHandler()
+{
+	if (_safety_disabled) {
+		_safety.safety_switch_available = true;
+		_safety.safety_off = true;
+
+	} else {
+
+		button_event_s button_event;
+
+		while (_safety_button_sub.update(&button_event)) {
+			_safety.safety_switch_available = true;
+			_safety.safety_off |= button_event.triggered; // triggered safety button activates safety off
+		}
+	}
+
+	// publish immediately on change, otherwise at 1 Hz for logging
+	if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s) ||
+	    (_safety.safety_off != _previous_safety_off)) {
+		_safety.timestamp = hrt_absolute_time();
+		_safety_pub.publish(_safety);
+	}
+
+	_previous_safety_off = _safety.safety_off;
+}
+
+void Safety::enableSafety()
+{
+	_safety.safety_off = false;
+}

src/modules/commander/Safety.hpp

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Safety.hpp
+ */
+
+#pragma once
+
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/button_event.h>
+#include <uORB/topics/safety.h>
+
+class Safety
+{
+
+public:
+
+	Safety();
+	~Safety() = default;
+
+	void safetyButtonHandler();
+	void enableSafety();
+
+private:
+
+	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};
+	uORB::Publication<safety_s>	_safety_pub{ORB_ID(safety)};
+
+	safety_s _safety{};
+	bool _safety_disabled{false};
+	bool _previous_safety_off{false};
+};

src/modules/commander/commander_params.c

@@ -978,6 +978,16 @@ PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 0);
  */
 PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
 
+/**
+ * Enable force safety
+ *
+ * Force safety when the vehicle disarms. Not supported when safety button used over PX4IO board.
+ *
+ * @boolean
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0);
+
 /**
  * Enable Motor Testing
  *