state_machine_helper.h

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/**
 * @file state_machine_helper.h
 * State machine helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_

#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_status_flags.h>

typedef enum {
    TRANSITION_DENIED = -1,
    TRANSITION_NOT_CHANGED = 0,
    TRANSITION_CHANGED
} transition_result_t;

enum class link_loss_actions_t {
    DISABLED = 0,
    AUTO_LOITER = 1,    // Hold mode
    AUTO_RTL = 2,       // Return mode
    AUTO_LAND = 3,      // Land mode
    AUTO_RECOVER = 4,   // Data Link Auto Recovery (CASA Outback Challenge rules)
    TERMINATE = 5,      // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
    LOCKDOWN = 6,       // Lock actuators (set actuator outputs to disarmed values)
};

enum class offboard_loss_actions_t {
    DISABLED = -1,
    AUTO_LAND = 0,      // Land mode
    AUTO_LOITER = 1,    // Hold mode
    AUTO_RTL = 2,       // Return mode
    TERMINATE = 3,      // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
    LOCKDOWN = 4,       // Lock actuators (set actuator outputs to disarmed values)
};

enum class offboard_loss_rc_actions_t {
    DISABLED = -1,      // Disabled
    MANUAL_POSITION = 0,    // Position mode
    MANUAL_ALTITUDE = 1,    // Altitude mode
    MANUAL_ATTITUDE = 2,    // Manual
    AUTO_RTL = 3,       // Return mode
    AUTO_LAND = 4,      // Land mode
    AUTO_LOITER = 5,    // Hold mode
    TERMINATE = 6,      // Terminate flight (set actuator outputs to failsafe values, and stop controllers)
    LOCKDOWN = 7,       // Lock actuators (set actuator outputs to disarmed values)
};

enum class position_nav_loss_actions_t {
    ALTITUDE_MANUAL = 0,    // Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
    LAND_TERMINATE = 1, // Land/Terminate.  Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
};

extern const char *const arming_state_names[];

bool is_safe(const safety_s &safety, const actuator_armed_s &armed);

transition_result_t
arming_state_transition(vehicle_status_s *status, const safety_s &safety, const arming_state_t new_arming_state,
            actuator_armed_s *armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
            vehicle_status_flags_s *status_flags, const uint8_t arm_requirements, const hrt_abstime &time_since_boot);

transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
              const vehicle_status_flags_s &status_flags, commander_state_s *internal_state);

void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason);

bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
           orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
           const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
           const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
           const offboard_loss_rc_actions_t offb_loss_rc_act,
           const position_nav_loss_actions_t posctl_nav_loss_act);

/*
 * Checks the validty of position data against the requirements of the current navigation
 * mode and switches mode if position data required is not available.
 */
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
                 const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);


// COM_LOW_BAT_ACT parameter values
typedef enum LOW_BAT_ACTION {
    WARNING = 0,        // Warning
    RETURN = 1,         // Return mode
    LAND = 2,           // Land mode
    RETURN_OR_LAND = 3  // Return mode at critically low level, Land mode at current position if reaching dangerously low levels
} low_battery_action_t;

void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
              const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning,
              const low_battery_action_t low_bat_action);

#endif /* STATE_MACHINE_HELPER_H_ */