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74 lines
2.7 KiB
C++
74 lines
2.7 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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#pragma once
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#include "Common.hpp"
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#include <px4_platform_common/module_params.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/health_report.h>
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class HealthAndArmingChecks : public ModuleParams
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{
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public:
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HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags, vehicle_status_s &status);
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~HealthAndArmingChecks() = default;
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/**
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* Run arming checks and report if necessary.
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* This should be called regularly (e.g. 1Hz).
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* @param force_reporting if true, force reporting even if nothing changed
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* @return true if there was a report (also when force_reporting=true)
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*/
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bool update(bool force_reporting = false);
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/**
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* Whether arming is possible for a given navigation mode
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*/
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bool canArm(uint8_t nav_state) const { return _reporter.canArm(nav_state); }
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protected:
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void updateParams() override;
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private:
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Context _context;
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Report _reporter;
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uORB::Publication<health_report_s> _health_report_pub{ORB_ID(health_report)};
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// all checks
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HealthAndArmingCheckBase *_checks[10] = {
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};
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};
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