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commander: add failsafe state machine with webassembly simulation

Browse Source 
to run the simulation:
install sdk: https://emscripten.org/docs/getting_started/downloads.html
make run_failsafe_web_server
open http://0.0.0.0:8000/

Co-authored-by: Konrad <konrad@auterion.com>
This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
co-authored by Konrad
parent 82911e48be
commit a04230faa1
13 changed files with 2115 additions and 10 deletions
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src/modules/commander/failsafe/failsafe.h
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include "framework.h"
class Failsafe : public FailsafeBase
{
public:
Failsafe(ModuleParams *parent) : FailsafeBase(parent) {}
protected:
void checkStateAndMode(const hrt_abstime &time_us, const State &state,
const vehicle_status_flags_s &status_flags) override;
Action checkModeFallback(const vehicle_status_flags_s &status_flags, uint8_t user_intended_mode) const override;
uint8_t modifyUserIntendedMode(Action previous_action, Action current_action,
uint8_t user_intended_mode) const override;
private:
enum class RCLossExceptionBits : int32_t {
Mission = (1 << 0),
Hold = (1 << 1),
Offboard = (1 << 2)
};
ActionOptions fromNavDllOrRclActParam(int param_value) const;
ActionOptions fromGfActParam(int param_value) const;
const int _caller_id_mode_fallback{genCallerId()};
bool _last_state_mode_fallback{false};
const int _caller_id_mission_control_lost{genCallerId()};
bool _last_state_mission_control_lost{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(FailsafeBase,
(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl,
(ParamInt<px4::params::GF_ACTION>) _param_gf_action
);
};