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vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN
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Signed-off-by: Andrei Korigodski <[email protected]>
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@korigod @julianoes
korigod authored and julianoes committed Aug 5, 2019
1 parent 4a330c6 commit 5133453
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Showing 5 changed files with 22 additions and 22 deletions.
2 changes: 1 addition & 1 deletion msg/vehicle_status.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_STANDBY_ERROR = 3
uint8 ARMING_STATE_REBOOT = 4
uint8 ARMING_STATE_SHUTDOWN = 4
uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6

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2 changes: 1 addition & 1 deletion src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -525,7 +525,7 @@ void print_status()

bool shutdown_if_allowed()
{
return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_REBOOT,
return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_SHUTDOWN,
&armed, false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
}
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22 changes: 11 additions & 11 deletions src/modules/commander/commander_tests/state_machine_helper_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,8 +128,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"transition: init to reboot",
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
vehicle_status_s::ARMING_STATE_SHUTDOWN,
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
},

{
Expand All @@ -149,8 +149,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"transition: standby to reboot",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
vehicle_status_s::ARMING_STATE_SHUTDOWN,
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
},

{
Expand All @@ -163,8 +163,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"transition: standby error to reboot",
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
vehicle_status_s::ARMING_STATE_SHUTDOWN,
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
},

{
Expand All @@ -177,8 +177,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"transition: in air restore to reboot",
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
vehicle_status_s::ARMING_STATE_SHUTDOWN,
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
},

// hil on tests, standby error to standby not normally allowed
Expand Down Expand Up @@ -227,7 +227,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"no transition: armed to reboot",
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_REBOOT,
vehicle_status_s::ARMING_STATE_SHUTDOWN,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
},

Expand All @@ -247,9 +247,9 @@ bool StateMachineHelperTest::armingStateTransitionTest()

{
"no transition: reboot to armed",
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
},

{
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16 changes: 8 additions & 8 deletions src/modules/commander/state_machine_helper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,13 +66,13 @@ static constexpr const char reason_no_datalink[] = "no datalink";
// code for those checks.
static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
= {
// INIT, STANDBY, ARMED, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
// INIT, STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE
{ /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, false, false, false },
{ /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, true },
{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, false, false },
{ /* vehicle_status_s::ARMING_STATE_SHUTDOWN */ true, true, false, true, true, true },
{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false }, // NYI
};

// You can index into the array with an arming_state_t in order to get its textual representation
Expand All @@ -81,7 +81,7 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
"STANDBY",
"ARMED",
"STANDBY_ERROR",
"REBOOT",
"SHUTDOWN",
"IN_AIR_RESTORE",
};

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2 changes: 1 addition & 1 deletion src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,7 +292,7 @@ void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;

} else if (status->arming_state == vehicle_status_s::ARMING_STATE_REBOOT) {
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_SHUTDOWN) {
*mavlink_state = MAV_STATE_POWEROFF;

} else {
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