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

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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>

typedef enum {
    TRANSITION_DENIED = -1,
    TRANSITION_NOT_CHANGED = 0,
    TRANSITION_CHANGED
} transition_result_t;

enum class link_loss_actions_t {
    DISABLED = 0,
    AUTO_LOITER = 1,
    AUTO_RTL = 2,
    AUTO_LAND = 3,
    AUTO_RECOVER = 4,
    TERMINATE = 5,
    LOCKDOWN = 6,
};

typedef enum {
	ARM_REQ_NONE = 0,
	ARM_REQ_MISSION_BIT = (1 << 0),
	ARM_REQ_ARM_AUTH_BIT = (1 << 1),
	ARM_REQ_GPS_BIT = (1 << 2),
} arm_requirements_t;

// This is a struct used by the commander internally.
struct status_flags_s {
    bool condition_calibration_enabled;
    bool condition_system_sensors_initialized;
    bool condition_system_prearm_error_reported;	// true if errors have already been reported
    bool condition_system_hotplug_timeout;		// true if the hotplug sensor search is over
    bool condition_system_returned_to_home;
    bool condition_auto_mission_available;
    bool condition_global_position_valid;		// set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
    bool condition_global_velocity_valid;		// set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation
    bool condition_home_position_valid;			// indicates a valid home position (a valid home position is not always a valid launch)
    bool condition_local_position_valid;		// set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
    bool condition_local_velocity_valid;		// set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
    bool condition_local_altitude_valid;
    bool condition_airspeed_valid;                        // set to true by the commander app if there is a valid airspeed measurement available
    bool condition_power_input_valid;                // set if input power is valid
    bool usb_connected;                                // status of the USB power supply
    bool circuit_breaker_engaged_power_check;
    bool circuit_breaker_engaged_airspd_check;
    bool circuit_breaker_engaged_enginefailure_check;
    bool circuit_breaker_engaged_gpsfailure_check;
    bool circuit_breaker_flight_termination_disabled;
    bool circuit_breaker_engaged_usb_check;
    bool circuit_breaker_engaged_posfailure_check;	// set to true when the position valid checks have been disabled
    bool offboard_control_signal_found_once;
    bool offboard_control_signal_lost;
    bool offboard_control_set_by_command;                // true if the offboard mode was set by a mavlink command and should not be overridden by RC
    bool offboard_control_loss_timeout;                // true if offboard is lost for a certain amount of time
    bool rc_signal_found_once;
    bool rc_signal_lost_cmd;                        // true if RC lost mode is commanded
    bool rc_input_blocked;                                // set if RC input should be ignored temporarily
    bool data_link_lost_cmd;                        // datalink to GCS lost mode commanded
    bool vtol_transition_failure;                        // Set to true if vtol transition failed
    bool vtol_transition_failure_cmd;                // Set to true if vtol transition failure mode is commanded
    bool gps_failure;                                // Set to true if a gps failure is detected
};

bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);

transition_result_t arming_state_transition(struct vehicle_status_s *status,
					    struct battery_status_s *battery,
					    const struct safety_s *safety,
					    arming_state_t new_arming_state,
					    struct actuator_armed_s *armed,
					    bool fRunPreArmChecks,
					    orb_advert_t *mavlink_log_pub,        ///< uORB handle for mavlink log
					    status_flags_s *status_flags,
					    float avionics_power_rail_voltage,
					    uint8_t arm_requirements,
					    hrt_abstime time_since_boot);

transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
		      status_flags_s *status_flags, struct commander_state_s *internal_state);

transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);

void enable_failsafe(struct vehicle_status_s *status, bool old_failsafe,
		     orb_advert_t *mavlink_log_pub, const char *reason);

bool set_nav_state(struct vehicle_status_s *status,
		   struct actuator_armed_s *armed,
		   struct commander_state_s *internal_state,
		   orb_advert_t *mavlink_log_pub,
		   const link_loss_actions_t data_link_loss_act,
		   const bool mission_finished,
		   const bool stay_in_failsafe,
		   status_flags_s *status_flags,
		   bool landed,
		   const link_loss_actions_t rc_loss_act,
		   const int offb_loss_act,
		   const int offb_loss_rc_act,
		   const int posctl_nav_loss_act);

/*
 * Checks the validty of position data aaainst the requirements of the current navigation
 * mode and switches mode if position data required is not available.
 */
bool check_invalid_pos_nav_state(struct vehicle_status_s *status,
			       bool old_failsafe,
			       orb_advert_t *mavlink_log_pub,
			       status_flags_s *status_flags,
			       const bool use_rc, // true if a mode using RC control can be used as a fallback
			       const bool using_global_pos); // true when the current mode requires a global position estimate

void set_rc_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
						commander_state_s *internal_state, const link_loss_actions_t link_loss_act);

void set_data_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, status_flags_s *status_flags,
						commander_state_s *internal_state, const link_loss_actions_t link_loss_act);

int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
		    bool force_report, status_flags_s *status_flags, battery_status_s *battery,
		    uint8_t arm_requirements, hrt_abstime time_since_boot);

#endif /* STATE_MACHINE_HELPER_H_ */