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Simplify Battery-related Enum Naming (#24265)

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* Simplify battery-related enum naming

* Fix mistakenly removed string in enum names

* Fix missing renamings

* Update outdated file

* msg: Increase battery_status version since the enum naming was changed

* Revert message version increase

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Sebastian Domoszlai
2025-02-28 11:42:40 -09:00
committed by GitHub
co-authored by Matthias Grob
parent 336d055923
commit b5f37c9fa6
25 changed files with 101 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/battery_status/battery_status.cpp
+2 -2
View File
@@ -137,9 +137,9 @@ private:
BatteryStatus::BatteryStatus() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0),
_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE, 0),
#if BOARD_NUMBER_BRICKS > 1
_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 1),
_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE, 1),
#endif
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
{
src/modules/commander/Commander.cpp
+5 -5
View File
@@ -2193,13 +2193,13 @@ void Commander::updateTunes()
} else if (!_vehicle_status.usb_connected &&
(_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(_battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
(_battery_warning == battery_status_s::WARNING_CRITICAL)) {
/* play tune on battery critical */
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_FAST);
} else if ((_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
(_battery_warning == battery_status_s::BATTERY_WARNING_LOW)) {
(_battery_warning == battery_status_s::WARNING_LOW)) {
/* play tune on battery warning */
set_tune(tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW);
@@ -2493,10 +2493,10 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
if (_vehicle_status.failsafe) {
led_color = led_control_s::COLOR_PURPLE;
} else if (battery_warning == battery_status_s::BATTERY_WARNING_LOW) {
} else if (battery_warning == battery_status_s::WARNING_LOW) {
led_color = led_control_s::COLOR_AMBER;
} else if (battery_warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
} else if (battery_warning == battery_status_s::WARNING_CRITICAL) {
led_color = led_control_s::COLOR_RED;
} else {
@@ -2867,7 +2867,7 @@ void Commander::battery_status_check()
// Handle shutdown request from emergency battery action
if (_battery_warning != _failsafe_flags.battery_warning) {
if (_failsafe_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
if (_failsafe_flags.battery_warning == battery_status_s::WARNING_EMERGENCY) {
#if defined(BOARD_HAS_POWER_CONTROL)
if (!isArmed() && (px4_shutdown_request(60_s) == 0)) {
src/modules/commander/Commander.hpp
+1 -1
View File
@@ -262,7 +262,7 @@ private:
hrt_abstime _last_health_and_arming_check{0};
uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
uint8_t _battery_warning{battery_status_s::WARNING_NONE};
bool _failsafe_user_override_request{false}; ///< override request due to stick movements
src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
+11 -11
View File
@@ -39,7 +39,7 @@
using namespace time_literals;
using battery_fault_reason_t = events::px4::enums::battery_fault_reason_t;
static_assert(battery_status_s::BATTERY_FAULT_COUNT == (static_cast<uint8_t>(battery_fault_reason_t::_max) + 1)
static_assert(battery_status_s::FAULT_COUNT == (static_cast<uint8_t>(battery_fault_reason_t::_max) + 1)
, "Battery fault flags mismatch!");
static constexpr const char *battery_fault_reason_str(battery_fault_reason_t battery_fault_reason)
@@ -78,7 +78,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
// Reset related failsafe flags otherwise failures from before disabling the check cause failsafes without reported reason
reporter.failsafeFlags().battery_unhealthy = false;
reporter.failsafeFlags().battery_low_remaining_time = false;
reporter.failsafeFlags().battery_warning = battery_status_s::BATTERY_WARNING_NONE;
reporter.failsafeFlags().battery_warning = battery_status_s::WARNING_NONE;
return;
}
@@ -86,7 +86,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
// There are possibly multiple batteries, and we can't know which ones serve which purpose. So the safest
// option is to check if ANY of them have a warning, and specifically find which one has the most
// urgent warning.
uint8_t worst_warning = battery_status_s::BATTERY_WARNING_NONE;
uint8_t worst_warning = battery_status_s::WARNING_NONE;
float worst_battery_remaining = 1.f;
// To make sure that all connected batteries are being regularly reported, we check which one has the
// oldest timestamp.
@@ -132,7 +132,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
}
// trigger a battery failsafe action if a battery disconnects in flight
worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
worst_warning = battery_status_s::WARNING_CRITICAL;
}
if (battery.connected) {
@@ -195,13 +195,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
reporter.failsafeFlags().battery_warning = worst_warning;
}
const bool battery_warning = reporter.failsafeFlags().battery_warning > battery_status_s::BATTERY_WARNING_NONE
&& reporter.failsafeFlags().battery_warning < battery_status_s::BATTERY_WARNING_FAILED;
const bool battery_warning = reporter.failsafeFlags().battery_warning > battery_status_s::WARNING_NONE
&& reporter.failsafeFlags().battery_warning < battery_status_s::WARNING_FAILED;
const bool configured_arm_threshold_in_use = !context.isArmed() && (_param_com_arm_bat_min.get() >= -FLT_EPSILON);
const bool below_configured_arm_threshold = (worst_battery_remaining < _param_com_arm_bat_min.get());
if (battery_warning || (configured_arm_threshold_in_use && below_configured_arm_threshold)) {
const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::BATTERY_WARNING_CRITICAL;
const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::WARNING_CRITICAL;
NavModes affected_modes = (!configured_arm_threshold_in_use && critical_or_higher)
|| (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
@@ -209,7 +209,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
switch (reporter.failsafeFlags().battery_warning) {
default:
case battery_status_s::BATTERY_WARNING_LOW:
case battery_status_s::WARNING_LOW:
/* EVENT
* @description
* The lowest battery state of charge is below the low threshold.
@@ -227,7 +227,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
case battery_status_s::WARNING_CRITICAL:
/* EVENT
* @description
* The lowest battery state of charge is below the critical threshold.
@@ -245,7 +245,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
break;
case battery_status_s::BATTERY_WARNING_EMERGENCY:
case battery_status_s::WARNING_EMERGENCY:
/* EVENT
* @description
* The lowest battery state of charge is below the emergency threshold.
@@ -275,7 +275,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|| is_required_battery_missing
// No currently-connected batteries have any fault
|| battery_has_fault
|| reporter.failsafeFlags().battery_warning == battery_status_s::BATTERY_WARNING_FAILED;
|| reporter.failsafeFlags().battery_warning == battery_status_s::WARNING_FAILED;
if (reporter.failsafeFlags().battery_unhealthy
&& !is_required_battery_missing && !battery_has_fault) { // missing batteries and faults are reported above already
src/modules/commander/failsafe/failsafe.cpp
+10 -10
View File
@@ -192,16 +192,16 @@ FailsafeBase::ActionOptions Failsafe::fromBatteryWarningActParam(int param_value
switch (battery_warning) {
default:
case battery_status_s::BATTERY_WARNING_NONE:
case battery_status_s::WARNING_NONE:
options.action = Action::None;
break;
case battery_status_s::BATTERY_WARNING_LOW:
case battery_status_s::WARNING_LOW:
options.action = Action::Warn;
options.cause = Cause::BatteryLow;
break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
case battery_status_s::WARNING_CRITICAL:
options.action = Action::Warn;
options.cause = Cause::BatteryCritical;
@@ -222,7 +222,7 @@ FailsafeBase::ActionOptions Failsafe::fromBatteryWarningActParam(int param_value
break;
case battery_status_s::BATTERY_WARNING_EMERGENCY:
case battery_status_s::WARNING_EMERGENCY:
options.action = Action::Warn;
options.cause = Cause::BatteryEmergency;
@@ -550,21 +550,21 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
_param_com_low_bat_act.get() : (int32_t)LowBatteryAction::Warning;
switch (status_flags.battery_warning) {
case battery_status_s::BATTERY_WARNING_LOW:
case battery_status_s::WARNING_LOW:
_last_state_battery_warning_low = checkFailsafe(_caller_id_battery_warning_low, _last_state_battery_warning_low,
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_LOW));
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::WARNING_LOW));
break;
case battery_status_s::BATTERY_WARNING_CRITICAL:
case battery_status_s::WARNING_CRITICAL:
_last_state_battery_warning_critical = checkFailsafe(_caller_id_battery_warning_critical,
_last_state_battery_warning_critical,
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_CRITICAL));
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::WARNING_CRITICAL));
break;
case battery_status_s::BATTERY_WARNING_EMERGENCY:
case battery_status_s::WARNING_EMERGENCY:
_last_state_battery_warning_emergency = checkFailsafe(_caller_id_battery_warning_emergency,
_last_state_battery_warning_emergency,
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_EMERGENCY));
true, fromBatteryWarningActParam(low_battery_action, battery_status_s::WARNING_EMERGENCY));
break;
default:
src/modules/esc_battery/EscBattery.cpp
+1 -1
View File
@@ -40,7 +40,7 @@ using namespace time_literals;
EscBattery::EscBattery() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
_battery(1, this, ESC_BATTERY_INTERVAL_US, battery_status_s::BATTERY_SOURCE_ESCS)
_battery(1, this, ESC_BATTERY_INTERVAL_US, battery_status_s::SOURCE_ESCS)
{
}
src/modules/events/set_leds.cpp
+2 -2
View File
@@ -101,12 +101,12 @@ void StatusDisplay::set_leds()
}
// handle battery warnings, once a state is reached it can not be reset
if (_battery_status_sub.get().warning == battery_status_s::BATTERY_WARNING_CRITICAL || _critical_battery) {
if (_battery_status_sub.get().warning == battery_status_s::WARNING_CRITICAL || _critical_battery) {
_led_control.color = led_control_s::COLOR_RED;
_led_control.mode = led_control_s::MODE_BLINK_FAST;
_critical_battery = true;
} else if (_battery_status_sub.get().warning == battery_status_s::BATTERY_WARNING_LOW || _low_battery) {
} else if (_battery_status_sub.get().warning == battery_status_s::WARNING_LOW || _low_battery) {
_led_control.color = led_control_s::COLOR_RED;
_led_control.mode = led_control_s::MODE_FLASH;
_low_battery = true;
src/modules/mavlink/mavlink_receiver.cpp
+3 -3
View File
@@ -1814,13 +1814,13 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
// Set the battery warning based on remaining charge.
// Note: Smallest values must come first in evaluation.
if (battery_status.remaining < _param_bat_emergen_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
battery_status.warning = battery_status_s::WARNING_EMERGENCY;
} else if (battery_status.remaining < _param_bat_crit_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
battery_status.warning = battery_status_s::WARNING_CRITICAL;
} else if (battery_status.remaining < _param_bat_low_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
battery_status.warning = battery_status_s::WARNING_LOW;
}
_battery_pub.publish(battery_status);
src/modules/mavlink/streams/BATTERY_STATUS.hpp
+7 -7
View File
@@ -81,31 +81,31 @@ private:
math::max((int)battery_status.time_remaining_s, 1) : 0;
switch (battery_status.warning) {
case (battery_status_s::BATTERY_WARNING_NONE):
case (battery_status_s::WARNING_NONE):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK;
break;
case (battery_status_s::BATTERY_WARNING_LOW):
case (battery_status_s::WARNING_LOW):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW;
break;
case (battery_status_s::BATTERY_WARNING_CRITICAL):
case (battery_status_s::WARNING_CRITICAL):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL;
break;
case (battery_status_s::BATTERY_WARNING_EMERGENCY):
case (battery_status_s::WARNING_EMERGENCY):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
break;
case (battery_status_s::BATTERY_WARNING_FAILED):
case (battery_status_s::WARNING_FAILED):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED;
break;
case (battery_status_s::BATTERY_STATE_UNHEALTHY):
case (battery_status_s::STATE_UNHEALTHY):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNHEALTHY;
break;
case (battery_status_s::BATTERY_STATE_CHARGING):
case (battery_status_s::STATE_CHARGING):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CHARGING;
break;
src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+1 -1
View File
@@ -285,7 +285,7 @@ private:
updated = true;
_batteries[i].connected = battery.connected;
if (battery.warning > battery_status_s::BATTERY_WARNING_LOW) {
if (battery.warning > battery_status_s::WARNING_LOW) {
msg->failure_flags |= HL_FAILURE_FLAG_BATTERY;
}
}
src/modules/simulation/battery_simulator/BatterySimulator.cpp
+1 -1
View File
@@ -36,7 +36,7 @@
BatterySimulator::BatterySimulator() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_battery(1, this, BATTERY_SIMLATOR_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
_battery(1, this, BATTERY_SIMLATOR_SAMPLE_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE)
{
}