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Beat Küng
100 lines
3.2 KiB
C++
100 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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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#include "HealthAndArmingChecks.hpp"
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HealthAndArmingChecks::HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags,
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vehicle_status_s &status)
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: ModuleParams(parent),
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_context(status),
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_reporter(status_flags)
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{
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}
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bool HealthAndArmingChecks::update(bool force_reporting)
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{
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_reporter.reset();
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for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
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if (!_checks[i]) {
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break;
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}
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_checks[i]->checkAndReport(_context, _reporter);
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}
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_reporter.finalize();
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if (_reporter.report(_context.isArmed(), force_reporting)) {
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// LEGACY start
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// Run the checks again, this time with the mavlink publication set.
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// We don't expect any change, and rate limitation would prevent the events from being reported again,
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// so we only report mavlink_log_*.
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_reporter._mavlink_log_pub = &_mavlink_log_pub;
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_reporter.reset();
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for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
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if (!_checks[i]) {
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break;
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}
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_checks[i]->checkAndReport(_context, _reporter);
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}
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_reporter.finalize();
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_reporter.report(_context.isArmed(), false);
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_reporter._mavlink_log_pub = nullptr;
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// LEGACY end
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health_report_s health_report;
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_reporter.getHealthReport(health_report);
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health_report.timestamp = hrt_absolute_time();
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_health_report_pub.publish(health_report);
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return true;
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}
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return false;
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}
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void HealthAndArmingChecks::updateParams()
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{
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for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
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if (!_checks[i]) {
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break;
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}
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_checks[i]->updateParams();
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}
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}
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