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PX4-Autopilot/src/modules/commander/state_machine_helper.cpp

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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 state_machine_helper.cpp
* State machine helper functions implementations
*/
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <dirent.h>
#include <fcntl.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
#include "commander_helper.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static bool arming_state_changed = true;
static bool main_state_changed = true;
static bool failsafe_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed)
{
/*
* Perform an atomic state update
*/
irqstate_t flags = irqsave();
transition_result_t ret = TRANSITION_DENIED;
/* only check transition if the new state is actually different from the current one */
if (new_arming_state == status->arming_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
/* enforce lockdown in HIL */
if (status->hil_state == HIL_STATE_ON) {
armed->lockdown = true;
} else {
armed->lockdown = false;
}
switch (new_arming_state) {
case ARMING_STATE_INIT:
/* allow going back from INIT for calibration */
if (status->arming_state == ARMING_STATE_STANDBY) {
ret = TRANSITION_CHANGED;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_STANDBY:
/* allow coming from INIT and disarming from ARMED */
if (status->arming_state == ARMING_STATE_INIT
|| status->arming_state == ARMING_STATE_ARMED
|| status->hil_state == HIL_STATE_ON) {
/* sensors need to be initialized for STANDBY state */
if (status->condition_system_sensors_initialized) {
ret = TRANSITION_CHANGED;
armed->armed = false;
armed->ready_to_arm = true;
}
}
break;
case ARMING_STATE_ARMED:
/* allow arming from STANDBY and IN-AIR-RESTORE */
if ((status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
&& (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = true;
}
break;
case ARMING_STATE_ARMED_ERROR:
/* an armed error happens when ARMED obviously */
if (status->arming_state == ARMING_STATE_ARMED) {
ret = TRANSITION_CHANGED;
armed->armed = true;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_STANDBY_ERROR:
/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
if (status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_INIT
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
ret = TRANSITION_CHANGED;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_REBOOT:
/* an armed error happens when ARMED obviously */
if (status->arming_state == ARMING_STATE_INIT
|| status->arming_state == ARMING_STATE_STANDBY
|| status->arming_state == ARMING_STATE_STANDBY_ERROR) {
ret = TRANSITION_CHANGED;
armed->armed = false;
armed->ready_to_arm = false;
}
break;
case ARMING_STATE_IN_AIR_RESTORE:
/* XXX implement */
break;
default:
break;
}
if (ret == TRANSITION_CHANGED) {
status->arming_state = new_arming_state;
arming_state_changed = true;
}
}
/* end of atomic state update */
irqrestore(flags);
if (ret == TRANSITION_DENIED)
warnx("arming transition rejected");
return ret;
}
bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safety, const struct actuator_armed_s *armed)
{
// System is safe if:
// 1) Not armed
// 2) Armed, but in software lockdown (HIL)
// 3) Safety switch is present AND engaged -> actuators locked
if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
return true;
} else {
return false;
}
}
bool
check_arming_state_changed()
{
if (arming_state_changed) {
arming_state_changed = false;
return true;
} else {
return false;
}
}
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state)
{
transition_result_t ret = TRANSITION_DENIED;
/* transition may be denied even if requested the same state because conditions may be changed */
switch (new_main_state) {
case MAIN_STATE_MANUAL:
ret = TRANSITION_CHANGED;
break;
case MAIN_STATE_SEATBELT:
/* need at minimum altitude estimate */
if (!status->is_rotary_wing ||
(status->condition_local_altitude_valid ||
status->condition_global_position_valid)) {
ret = TRANSITION_CHANGED;
}
break;
case MAIN_STATE_EASY:
/* need at minimum local position estimate */
if (status->condition_local_position_valid ||
status->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case MAIN_STATE_AUTO:
/* need global position estimate */
if (status->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
}
if (ret == TRANSITION_CHANGED) {
if (status->main_state != new_main_state) {
status->main_state = new_main_state;
main_state_changed = true;
} else {
ret = TRANSITION_NOT_CHANGED;
}
}
return ret;
}
bool
check_main_state_changed()
{
if (main_state_changed) {
main_state_changed = false;
return true;
} else {
return false;
}
}
bool
check_failsafe_state_changed()
{
if (failsafe_state_changed) {
failsafe_state_changed = false;
return true;
} else {
return false;
}
}
/**
* Transition from one hil state to another
*/
int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
bool valid_transition = false;
int ret = ERROR;
if (current_status->hil_state == new_state) {
valid_transition = true;
} else {
switch (new_state) {
case HIL_STATE_OFF:
/* we're in HIL and unexpected things can happen if we disable HIL now */
mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
valid_transition = false;
break;
case HIL_STATE_ON:
if (current_status->arming_state == ARMING_STATE_INIT
|| current_status->arming_state == ARMING_STATE_STANDBY
|| current_status->arming_state == ARMING_STATE_STANDBY_ERROR) {
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
valid_transition = true;
// Disable publication of all attached sensors
/* list directory */
DIR *d;
d = opendir("/dev");
if (d) {
struct dirent *direntry;
char devname[24];
while ((direntry = readdir(d)) != NULL) {
/* skip serial ports */
if (!strncmp("tty", direntry->d_name, 3)) {
continue;
}
/* skip mtd devices */
if (!strncmp("mtd", direntry->d_name, 3)) {
continue;
}
/* skip ram devices */
if (!strncmp("ram", direntry->d_name, 3)) {
continue;
}
/* skip MMC devices */
if (!strncmp("mmc", direntry->d_name, 3)) {
continue;
}
/* skip mavlink */
if (!strcmp("mavlink", direntry->d_name)) {
continue;
}
/* skip console */
if (!strcmp("console", direntry->d_name)) {
continue;
}
/* skip null */
if (!strcmp("null", direntry->d_name)) {
continue;
}
snprintf(devname, sizeof(devname), "/dev/%s", direntry->d_name);
int sensfd = ::open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
close(sensfd);
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
closedir(d);
} else {
/* failed opening dir */
warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
return 1;
}
}
break;
default:
warnx("Unknown hil state");
break;
}
}
if (valid_transition) {
current_status->hil_state = new_state;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// XXX also set lockdown here
ret = OK;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
}
return ret;
}
/**
* Transition from one failsafe state to another
*/
transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state)
{
transition_result_t ret = TRANSITION_DENIED;
/* transition may be denied even if requested the same state because conditions may be changed */
if (status->failsafe_state == FAILSAFE_STATE_TERMINATION) {
/* transitions from TERMINATION to other states not allowed */
if (new_failsafe_state == FAILSAFE_STATE_TERMINATION) {
ret = TRANSITION_NOT_CHANGED;
}
} else {
switch (new_failsafe_state) {
case FAILSAFE_STATE_NORMAL:
/* always allowed (except from TERMINATION state) */
ret = TRANSITION_CHANGED;
break;
case FAILSAFE_STATE_RTL:
/* global position and home position required for RTL */
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->set_nav_state = NAV_STATE_RTL;
status->set_nav_state_timestamp = hrt_absolute_time();
ret = TRANSITION_CHANGED;
}
break;
case FAILSAFE_STATE_LAND:
/* at least relative altitude estimate required for landing */
if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
status->set_nav_state = NAV_STATE_LAND;
status->set_nav_state_timestamp = hrt_absolute_time();
ret = TRANSITION_CHANGED;
}
break;
case FAILSAFE_STATE_TERMINATION:
/* always allowed */
ret = TRANSITION_CHANGED;
break;
default:
break;
}
if (ret == TRANSITION_CHANGED) {
if (status->failsafe_state != new_failsafe_state) {
status->failsafe_state = new_failsafe_state;
failsafe_state_changed = true;
} else {
ret = TRANSITION_NOT_CHANGED;
}
}
}
return ret;
}
// /*
// * Wrapper functions (to be used in the commander), all functions assume lock on current_status
// */
// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
// *
// * START SUBSYSTEM/EMERGENCY FUNCTIONS
// * */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was removed something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was disabled something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
//
//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
//{
// int ret = 1;
//
//// /* Switch on HIL if in standby and not already in HIL mode */
//// if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
//// && !current_status->flag_hil_enabled) {
//// if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
//// /* Enable HIL on request */
//// current_status->flag_hil_enabled = true;
//// ret = OK;
//// state_machine_publish(status_pub, current_status, mavlink_fd);
//// publish_armed_status(current_status);
//// printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
////
//// } else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
//// current_status->flag_fmu_armed) {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
////
//// } else {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
//// }
//// }
//
// /* switch manual / auto */
// if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
// update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
// update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
// update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
// update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
// }
//
// /* vehicle is disarmed, mode requests arming */
// if (!(current_status->flag_fmu_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only arm in standby state */
// // XXX REMOVE
// if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
// ret = OK;
// printf("[cmd] arming due to command request\n");
// }
// }
//
// /* vehicle is armed, mode requests disarming */
// if (current_status->flag_fmu_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only disarm in ground ready */
// if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
// ret = OK;
// printf("[cmd] disarming due to command request\n");
// }
// }
//
// /* NEVER actually switch off HIL without reboot */
// if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
// warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
// mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
// ret = ERROR;
// }
//
// return ret;
//}
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