mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 09:00:35 +08:00
Philipp Oettershagen
81 lines
3.2 KiB
C++
81 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file health_flag_helper.cpp
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*
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* Contains helper functions to efficiently set the system health flags from commander and preflight check.
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*
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* @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
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*/
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#include "health_flag_helper.h"
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void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
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{
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PX4_DEBUG("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);
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if (present) {
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status.onboard_control_sensors_present |= (uint32_t)subsystem_type;
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} else {
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status.onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
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}
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if (enabled) {
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status.onboard_control_sensors_enabled |= (uint32_t)subsystem_type;
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} else {
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status.onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
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}
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if (ok) {
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status.onboard_control_sensors_health |= (uint32_t)subsystem_type;
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} else {
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status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
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}
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}
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void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status)
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{
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set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy,
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status);
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}
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void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
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{
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set_health_flags(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type,
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status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status);
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}
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