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Checkpoint: Added HIL state, arming/disarming works now, also from GQC

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This commit is contained in:
Julian Oes
2013-02-19 12:32:47 -08:00
parent b7faaca435
commit aab6214cdc
3 changed files with 413 additions and 352 deletions
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apps/commander/commander.c
+278 -282
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File diff suppressed because it is too large Load Diff
apps/commander/state_machine_helper.c
+129 -70
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@@ -413,6 +413,63 @@ int do_arming_state_update(int status_pub, struct vehicle_status_s *current_stat
return ret; return ret;
} }
/**
* Transition from one hil state to another
*/
int do_hil_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state)
{
bool valid_transition = false;
int ret = ERROR;
warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state);
if (current_status->hil_state == new_state) {
warnx("Hil state not changed");
valid_transition = true;
} else {
switch (new_state) {
case HIL_STATE_OFF:
if (current_status->arming_state == ARMING_STATE_INIT
|| current_status->arming_state == ARMING_STATE_STANDBY) {
current_status->flag_hil_enabled = false;
mavlink_log_critical(mavlink_fd, "Switched to OFF hil state");
valid_transition = true;
}
break;
case HIL_STATE_ON:
if (current_status->arming_state == ARMING_STATE_INIT
|| current_status->arming_state == ARMING_STATE_STANDBY) {
current_status->flag_hil_enabled = true;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
valid_transition = true;
}
break;
default:
warnx("Unknown hil state");
break;
}
}
if (valid_transition) {
current_status->hil_state = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
ret = OK;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
}
return ret;
}
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
@@ -684,7 +741,78 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
// } // }
/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ ///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
//
//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
//{
// int ret = 1;
//
//// /* Switch on HIL if in standby and not already in HIL mode */
//// if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
//// && !current_status->flag_hil_enabled) {
//// if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
//// /* Enable HIL on request */
//// current_status->flag_hil_enabled = true;
//// ret = OK;
//// state_machine_publish(status_pub, current_status, mavlink_fd);
//// publish_armed_status(current_status);
//// printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
////
//// } else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
//// current_status->flag_system_armed) {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
////
//// } else {
////
//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
//// }
//// }
//
// /* switch manual / auto */
// if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
// update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
// update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
// update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
//
// } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
// update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
// }
//
// /* vehicle is disarmed, mode requests arming */
// if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only arm in standby state */
// // XXX REMOVE
// if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
// ret = OK;
// printf("[cmd] arming due to command request\n");
// }
// }
//
// /* vehicle is armed, mode requests disarming */
// if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
// /* only disarm in ground ready */
// if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
// ret = OK;
// printf("[cmd] disarming due to command request\n");
// }
// }
//
// /* NEVER actually switch off HIL without reboot */
// if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
// warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
// mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
// ret = ERROR;
// }
//
// return ret;
//}
#if 0 #if 0
@@ -821,76 +949,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
} }
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
{
uint8_t ret = 1;
/* Switch on HIL if in standby and not already in HIL mode */
if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
&& !current_status->flag_hil_enabled) {
if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
/* Enable HIL on request */
current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
current_status->flag_system_armed) {
mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
} else {
mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
}
}
/* switch manual / auto */
if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
}
/* vehicle is disarmed, mode requests arming */
if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only arm in standby state */
// XXX REMOVE
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
printf("[cmd] arming due to command request\n");
}
}
/* vehicle is armed, mode requests disarming */
if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only disarm in ground ready */
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
ret = OK;
printf("[cmd] disarming due to command request\n");
}
}
/* NEVER actually switch off HIL without reboot */
if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
ret = ERROR;
}
return ret;
}
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
{ {
apps/uORB/topics/vehicle_status.h
+6
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@@ -82,6 +82,11 @@ typedef enum {
ARMING_STATE_IN_AIR_RESTORE ARMING_STATE_IN_AIR_RESTORE
} arming_state_t; } arming_state_t;
typedef enum {
HIL_STATE_OFF = 0,
HIL_STATE_ON
} hil_state_t;
enum VEHICLE_MODE_FLAG { enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -177,6 +182,7 @@ struct vehicle_status_s
navigation_state_t navigation_state; /**< current navigation state */ navigation_state_t navigation_state; /**< current navigation state */
arming_state_t arming_state; /**< current arming state */ arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ int32_t system_id; /**< system id, inspired by MAVLink's system ID field */