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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* Update outdated file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/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: