refactor vehicle_status_flags: rename to failsafe_flags

src/modules/commander/failsafe/CMakeLists.txt

@@ -31,20 +31,20 @@
 #
 ############################################################################
 
-# Extract information from status msg file
-set(status_msg_file ${PX4_SOURCE_DIR}/msg/vehicle_status_flags.msg)
+# Extract information from failsafe msg file
+set(failsafe_flags_msg_file ${PX4_SOURCE_DIR}/msg/failsafe_flags.msg)
 set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_struct_field_mapping.h)
 set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
 set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
 add_custom_command(OUTPUT ${generated_uorb_struct_field_mapping_header} ${html_output_file}
 	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
-		${status_msg_file} ${generated_uorb_struct_field_mapping_header}
+		${failsafe_flags_msg_file} ${generated_uorb_struct_field_mapping_header}
 		${html_template_file} ${html_output_file}
 	DEPENDS
-		${status_msg_file}
+		${failsafe_flags_msg_file}
 		${html_template_file}
 		${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
-		COMMENT "Extracting info from status msg file"
+		COMMENT "Extracting info from failsafe flags msg file"
 )
 add_custom_target(failsafe_uorb_struct_header DEPENDS ${generated_uorb_struct_field_mapping_header})
 

src/modules/commander/failsafe/emscripten.cpp

@@ -167,7 +167,7 @@ void set_param_value_float(const std::string &name, float value)
 
 int failsafe_update(bool armed, bool vtol_in_transition_mode, bool mission_finished,
 		    bool user_override, uint8_t user_intended_mode, uint8_t vehicle_type,
-		    vehicle_status_flags_s status_flags)
+		    failsafe_flags_s status_flags)
 {
 	uint64_t time_ms = emscripten_date_now();
 	FailsafeBase::State state{};
@@ -203,7 +203,7 @@ std::string action_str(int action)
 
 EMSCRIPTEN_BINDINGS(failsafe)
 {
-	class_<vehicle_status_flags_s>("state")
+	class_<failsafe_flags_s>("state")
 	.constructor<>()
 	UORB_STRUCT_FIELD_MAPPING
 	;

src/modules/commander/failsafe/failsafe.cpp

@@ -324,7 +324,7 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t
 }
 
 void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
-				 const vehicle_status_flags_s &status_flags)
+				 const failsafe_flags_s &status_flags)
 {
 	updateArmingState(time_us, state.armed, status_flags);
 
@@ -445,7 +445,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 				    ActionOptions(mode_fallback_action).allowUserTakeover(UserTakeoverAllowed::Always));
 }
 
-void Failsafe::updateArmingState(const hrt_abstime &time_us, bool armed, const vehicle_status_flags_s &status_flags)
+void Failsafe::updateArmingState(const hrt_abstime &time_us, bool armed, const failsafe_flags_s &status_flags)
 {
 	if (!_was_armed && armed) {
 		_armed_time = time_us;
@@ -459,7 +459,7 @@ void Failsafe::updateArmingState(const hrt_abstime &time_us, bool armed, const v
 	_was_armed = armed;
 }
 
-FailsafeBase::Action Failsafe::checkModeFallback(const vehicle_status_flags_s &status_flags,
+FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_flags,
 		uint8_t user_intended_mode) const
 {
 	Action action = Action::None;

src/modules/commander/failsafe/failsafe.h

@@ -44,14 +44,14 @@ public:
 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;
+			       const failsafe_flags_s &status_flags) override;
+	Action checkModeFallback(const failsafe_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:
-	void updateArmingState(const hrt_abstime &time_us, bool armed, const vehicle_status_flags_s &status_flags);
+	void updateArmingState(const hrt_abstime &time_us, bool armed, const failsafe_flags_s &status_flags);
 
 	enum class ManualControlLossExceptionBits : int32_t {
 		Mission = (1 << 0),

src/modules/commander/failsafe/failsafe_test.cpp

@@ -48,7 +48,7 @@ public:
 protected:
 
 	void checkStateAndMode(const hrt_abstime &time_us, const State &state,
-			       const vehicle_status_flags_s &status_flags) override
+			       const failsafe_flags_s &status_flags) override
 	{
 		CHECK_FAILSAFE(status_flags, manual_control_signal_lost,
 			       ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm));
@@ -65,7 +65,7 @@ protected:
 						 && status_flags.fd_critical_failure, Action::Terminate);
 	}
 
-	Action checkModeFallback(const vehicle_status_flags_s &status_flags, uint8_t user_intended_mode) const override
+	Action checkModeFallback(const failsafe_flags_s &status_flags, uint8_t user_intended_mode) const override
 	{
 		return Action::None;
 	}
@@ -96,7 +96,7 @@ TEST_F(FailsafeTest, general)
 {
 	FailsafeTester failsafe(nullptr);
 
-	vehicle_status_flags_s failsafe_flags{};
+	failsafe_flags_s failsafe_flags{};
 	FailsafeBase::State state{};
 	state.armed = true;
 	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
@@ -153,7 +153,7 @@ TEST_F(FailsafeTest, takeover)
 {
 	FailsafeTester failsafe(nullptr);
 
-	vehicle_status_flags_s failsafe_flags{};
+	failsafe_flags_s failsafe_flags{};
 	FailsafeBase::State state{};
 	state.armed = true;
 	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
@@ -210,7 +210,7 @@ TEST_F(FailsafeTest, takeover_denied)
 {
 	FailsafeTester failsafe(nullptr);
 
-	vehicle_status_flags_s failsafe_flags{};
+	failsafe_flags_s failsafe_flags{};
 	FailsafeBase::State state{};
 	state.armed = true;
 	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;

src/modules/commander/failsafe/framework.cpp

@@ -52,7 +52,7 @@ FailsafeBase::FailsafeBase(ModuleParams *parent) : ModuleParams(parent)
 
 uint8_t FailsafeBase::update(const hrt_abstime &time_us, const State &state, bool user_intended_mode_updated,
 			     bool rc_sticks_takeover_request,
-			     const vehicle_status_flags_s &status_flags)
+			     const failsafe_flags_s &status_flags)
 {
 	if (_last_update == 0) {
 		_last_update = time_us;
@@ -390,7 +390,7 @@ void FailsafeBase::removeNonActivatedActions()
 }
 
 
-void FailsafeBase::getSelectedAction(const State &state, const vehicle_status_flags_s &status_flags,
+void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s &status_flags,
 				     bool user_intended_mode_updated,
 				     bool rc_sticks_takeover_request,
 				     SelectedActionState &returned_state) const
@@ -566,7 +566,7 @@ bool FailsafeBase::actionAllowsUserTakeover(Action action) const
 }
 
 void FailsafeBase::clearDelayIfNeeded(const State &state,
-				      const vehicle_status_flags_s &status_flags)
+				      const failsafe_flags_s &status_flags)
 {
 	// Clear delay if one of the following is true:
 	// - Already in a failsafe
@@ -611,7 +611,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
 	return user_intended_mode;
 }
 
-bool FailsafeBase::modeCanRun(const vehicle_status_flags_s &status_flags, uint8_t mode)
+bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode)
 {
 	uint32_t mode_mask = 1u << mode;
 	return

src/modules/commander/failsafe/framework.h

@@ -33,14 +33,14 @@
 
 #pragma once
 
-#include <uORB/topics/vehicle_status_flags.h>
+#include <uORB/topics/failsafe_flags.h>
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/module_params.h>
 
 #include <cstddef>
 
 #define CHECK_FAILSAFE(status_flags, flag_name, options) \
-	checkFailsafe((int)offsetof(vehicle_status_flags_s, flag_name), lastStatusFlags().flag_name, status_flags.flag_name, options)
+	checkFailsafe((int)offsetof(failsafe_flags_s, flag_name), lastStatusFlags().flag_name, status_flags.flag_name, options)
 
 class FailsafeBase: public ModuleParams
 {
@@ -139,7 +139,7 @@ public:
 	 */
 	uint8_t update(const hrt_abstime &time_us, const State &state, bool user_intended_mode_updated,
 		       bool rc_sticks_takeover_request,
-		       const vehicle_status_flags_s &status_flags);
+		       const failsafe_flags_s &status_flags);
 
 	bool inFailsafe() const { return _selected_action != Action::None; }
 
@@ -185,21 +185,21 @@ protected:
 	};
 
 	virtual void checkStateAndMode(const hrt_abstime &time_us, const State &state,
-				       const vehicle_status_flags_s &status_flags) = 0;
-	virtual Action checkModeFallback(const vehicle_status_flags_s &status_flags, uint8_t user_intended_mode) const = 0;
+				       const failsafe_flags_s &status_flags) = 0;
+	virtual Action checkModeFallback(const failsafe_flags_s &status_flags, uint8_t user_intended_mode) const = 0;
 
-	const vehicle_status_flags_s &lastStatusFlags() const { return _last_status_flags; }
+	const failsafe_flags_s &lastStatusFlags() const { return _last_status_flags; }
 
 	bool checkFailsafe(int caller_id, bool last_state_failure, bool cur_state_failure, const ActionOptions &options);
 
-	virtual void getSelectedAction(const State &state, const vehicle_status_flags_s &status_flags,
+	virtual void getSelectedAction(const State &state, const failsafe_flags_s &status_flags,
 				       bool user_intended_mode_updated,
 				       bool rc_sticks_takeover_request,
 				       SelectedActionState &returned_state) const;
 
 	int genCallerId() { return ++_next_caller_id; }
 
-	static bool modeCanRun(const vehicle_status_flags_s &status_flags, uint8_t mode);
+	static bool modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode);
 
 	/**
 	 * Allows to modify the user intended mode. Use only in limited cases.
@@ -228,7 +228,7 @@ private:
 	void updateDelay(const hrt_abstime &elapsed_us);
 	void notifyUser(uint8_t user_intended_mode, Action action, Action delayed_action, Cause cause);
 
-	void clearDelayIfNeeded(const State &state, const vehicle_status_flags_s &status_flags);
+	void clearDelayIfNeeded(const State &state, const failsafe_flags_s &status_flags);
 
 	bool actionAllowsUserTakeover(Action action) const;
 
@@ -240,7 +240,7 @@ private:
 	hrt_abstime _last_update{};
 	bool _last_armed{false};
 	uint8_t _last_user_intended_mode{0};
-	vehicle_status_flags_s _last_status_flags{};
+	failsafe_flags_s _last_status_flags{};
 	Action _selected_action{Action::None};
 	bool _user_takeover_active{false};
 	bool _notification_required{false};
@@ -248,7 +248,7 @@ private:
 	hrt_abstime _current_start_delay{0}; ///< _current_delay is set to this value when starting the delay
 	hrt_abstime _current_delay{0}; ///< If > 0, stay in Hold, and take action once delay reaches 0
 
-	int _next_caller_id{sizeof(vehicle_status_flags_s) + 1};
+	int _next_caller_id{sizeof(failsafe_flags_s) + 1};
 	bool _duplicate_reported_once{false};
 
 	orb_advert_t _mavlink_log_pub{nullptr};

src/modules/commander/failsafe/parse_flags_from_msg.py

@@ -12,7 +12,7 @@ import re
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description='Extract fields from .msg files')
-    parser.add_argument('msg_file', help='vehicle_status_flags.msg file')
+    parser.add_argument('msg_file', help='failsafe_flags.msg file')
     parser.add_argument('header_file', help='generated_uorb_struct_field_mapping.h')
     parser.add_argument('html_template', help='HTML template input file')
     parser.add_argument('html_output', help='HTML output file')