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Beat Küng
96 lines
4.6 KiB
C++
96 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include "../../HealthAndArmingChecks/HealthAndArmingChecks.hpp"
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/events.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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typedef enum {
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TRANSITION_DENIED = -1,
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TRANSITION_NOT_CHANGED = 0,
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TRANSITION_CHANGED
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} transition_result_t;
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using arm_disarm_reason_t = events::px4::enums::arm_disarm_reason_t;
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class ArmStateMachine
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{
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public:
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ArmStateMachine() = default;
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~ArmStateMachine() = default;
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void forceArmState(uint8_t new_arm_state) { _arm_state = new_arm_state; }
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transition_result_t
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arming_state_transition(vehicle_status_s &status, const arming_state_t new_arming_state,
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actuator_armed_s &armed, HealthAndArmingChecks &checks, const bool fRunPreArmChecks,
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orb_advert_t *mavlink_log_pub, arm_disarm_reason_t calling_reason);
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// Getters
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uint8_t getArmState() const { return _arm_state; }
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bool isInit() const { return (_arm_state == vehicle_status_s::ARMING_STATE_INIT); }
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bool isStandby() const { return (_arm_state == vehicle_status_s::ARMING_STATE_STANDBY); }
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bool isArmed() const { return (_arm_state == vehicle_status_s::ARMING_STATE_ARMED); }
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bool isShutdown() const { return (_arm_state == vehicle_status_s::ARMING_STATE_SHUTDOWN); }
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static const char *getArmStateName(uint8_t arming_state);
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const char *getArmStateName() const { return getArmStateName(_arm_state); }
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private:
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static inline events::px4::enums::arming_state_t getArmStateEvent(uint8_t arming_state);
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uint8_t _arm_state{vehicle_status_s::ARMING_STATE_INIT};
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// This array defines the arming state transitions. The rows are the new state, and the columns
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// are the current state. Using new state and current state you can index into the array which
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// will be true for a valid transition or false for a invalid transition. In some cases even
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// though the transition is marked as true additional checks must be made. See arming_state_transition
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// code for those checks.
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static constexpr bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
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= {
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// INIT, STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE
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{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
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{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
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{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
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{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
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{ /* vehicle_status_s::ARMING_STATE_SHUTDOWN */ true, true, false, true, true, true },
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{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
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};
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};
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