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HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes

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Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
This commit is contained in:
Matthias Grob
2025-01-29 16:31:17 +01:00
parent 3b828e157a
commit f142363575
2 changed files with 22 additions and 0 deletions
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8
src/modules/commander/HealthAndArmingChecks/Common.cpp
View File

@@ -73,6 +73,14 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
addEvent(event_id, log_levels, message, (uint32_t)reportedModes(required_modes), component.index);
}
void Report::armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
uint32_t event_id, const events::LogLevels &log_levels, const char *message)
{
armingCheckFailure(required_modes.fail_modes, component, log_levels.external);
addEvent(event_id, log_levels, message,
(uint32_t)reportedModes(required_modes.message_modes | required_modes.fail_modes), component.index);
}
Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels,
uint32_t modes, unsigned args_size)
{

14
src/modules/commander/HealthAndArmingChecks/Common.hpp
View File

@@ -74,6 +74,12 @@ static_assert(sizeof(navigation_mode_group_t) == sizeof(NavModes), "type mismatc
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX <= CHAR_BIT *sizeof(navigation_mode_group_t),
"type too small, use next larger type");
// Type to pass two mode groups in one struct to have the same number of function arguments to facilitate events parsing
struct NavModesMessageFail {
NavModes message_modes; ///< modes in which there's user messageing but arming is allowed
NavModes fail_modes; ///< modes in which checks fail which must be a subset of message_modes
};
static inline NavModes operator|(NavModes a, NavModes b)
{
return static_cast<NavModes>(static_cast<uint32_t>(a) | static_cast<uint32_t>(b));
@@ -251,6 +257,14 @@ public:
void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id,
const events::LogLevels &log_levels, const char *message);
/**
* Overloaded variant of armingCheckFailure() which allows to separately specify modes in which a message should be emitted and a subset in which arming is blocked
* @param required_modes .message_modes modes in which to put out the event and hence user message.
* .failing_modes modes in which to to fail arming. Has to be a subset of message_modes to never disallow arming without a reason.
*/
void armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
uint32_t event_id, const events::LogLevels &log_levels, const char *message);
void clearArmingBits(NavModes modes);
/**