PX4-Autopilot/src/modules/commander/Arming/HealthFlags/HealthFlags.cpp

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/**
 * @file HealthFlags.cpp
 *
 * Contains helper functions to efficiently set the system health flags from commander and preflight check.
 *
 * @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
 */

#include "HealthFlags.h"

void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
{
	PX4_DEBUG("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", (long long unsigned int)subsystem_type, present,
		  enabled, ok);

	if (present) {
		status.onboard_control_sensors_present |= subsystem_type;

	} else {
		status.onboard_control_sensors_present &= ~subsystem_type;
	}

	if (enabled) {
		status.onboard_control_sensors_enabled |= subsystem_type;

	} else {
		status.onboard_control_sensors_enabled &= ~subsystem_type;
	}

	if (ok) {
		status.onboard_control_sensors_health |= subsystem_type;

	} else {
		status.onboard_control_sensors_health &= ~subsystem_type;
	}
}

void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status)
{
	set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & subsystem_type, healthy,
			 status);
}

void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
{
	set_health_flags(subsystem_type, status.onboard_control_sensors_present & subsystem_type,
			 status.onboard_control_sensors_enabled & subsystem_type, healthy, status);
}

void _print_sub(const char *name, const vehicle_status_s &status, uint64_t bit)
{
	PX4_INFO("%s:\t\t%s\t%s", name,
		 (status.onboard_control_sensors_enabled & bit) ? "EN" : " ",
		 (status.onboard_control_sensors_present & bit) ?
		 ((status.onboard_control_sensors_health & bit) ? "OK" : "ERR") :
		 (status.onboard_control_sensors_enabled & bit) ? "OFF" : "");
}

void print_health_flags(const vehicle_status_s &status)
{
#ifndef CONSTRAINED_FLASH
	PX4_INFO("DEVICE\t\tSTATUS");
	PX4_INFO("----------------------------------");
	_print_sub("GYRO", status, subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
	_print_sub("ACC", status, subsystem_info_s::SUBSYSTEM_TYPE_ACC);
	_print_sub("MAG", status, subsystem_info_s::SUBSYSTEM_TYPE_MAG);
	_print_sub("PRESS", status, subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
	_print_sub("AIRSP", status, subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE);
	_print_sub("GPS", status, subsystem_info_s::SUBSYSTEM_TYPE_GPS);
	_print_sub("OPT", status, subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW);
	_print_sub("VIO", status, subsystem_info_s::SUBSYSTEM_TYPE_CVPOSITION);
	_print_sub("LASER", status, subsystem_info_s::SUBSYSTEM_TYPE_LASERPOSITION);
	_print_sub("GTRUTH", status, subsystem_info_s::SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH);
	_print_sub("RATES", status, subsystem_info_s::SUBSYSTEM_TYPE_ANGULARRATECONTROL);
	_print_sub("ATT", status, subsystem_info_s::SUBSYSTEM_TYPE_ATTITUDESTABILIZATION);
	_print_sub("YAW", status, subsystem_info_s::SUBSYSTEM_TYPE_YAWPOSITION);
	_print_sub("ALTCTL", status, subsystem_info_s::SUBSYSTEM_TYPE_ALTITUDECONTROL);
	_print_sub("POS", status, subsystem_info_s::SUBSYSTEM_TYPE_POSITIONCONTROL);
	_print_sub("MOT", status, subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL);
	_print_sub("RC  ", status, subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER);
	_print_sub("GYRO2", status, subsystem_info_s::SUBSYSTEM_TYPE_GYRO2);
	_print_sub("ACC2", status, subsystem_info_s::SUBSYSTEM_TYPE_ACC2);
	_print_sub("MAG2", status, subsystem_info_s::SUBSYSTEM_TYPE_MAG2);
	_print_sub("GEOFENCE", status, subsystem_info_s::SUBSYSTEM_TYPE_GEOFENCE);
	_print_sub("AHRS", status, subsystem_info_s::SUBSYSTEM_TYPE_AHRS);
	_print_sub("TERRAIN", status, subsystem_info_s::SUBSYSTEM_TYPE_TERRAIN);
	_print_sub("REVMOT", status, subsystem_info_s::SUBSYSTEM_TYPE_REVERSEMOTOR);
	_print_sub("LOGGIN", status, subsystem_info_s::SUBSYSTEM_TYPE_LOGGING);
	_print_sub("BATT", status, subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY);
	_print_sub("PROX", status, subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY);
	_print_sub("SATCOM", status, subsystem_info_s::SUBSYSTEM_TYPE_SATCOM);
	_print_sub("PREARM", status, subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK);
	_print_sub("OBSAVD", status, subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE);
#endif
}