ArmAuthorization.cpp File Reference

#include "ArmAuthorization.h"
#include <string.h>
#include <unistd.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_config.h>
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>

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Enumerations
enum	{ ARM_AUTH_IDLE = 0, ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK, ARM_AUTH_MISSION_APPROVED }

Functions
static uint8_t	_auth_method_arm_req_check ()
static uint8_t	_auth_method_two_arm_check ()
static void	arm_auth_request_msg_send ()
uint8_t	arm_auth_check ()
void	arm_auth_update (hrt_abstime now, bool param_update)
void	arm_auth_init (orb_advert_t *mav_log_pub, uint8_t *sys_id)
enum arm_auth_methods	arm_auth_method_get ()

Variables
static orb_advert_t *	mavlink_log_pub
static int	command_ack_sub = -1
static param_t	param_arm_parameters
static hrt_abstime	auth_timeout
static enum { ... }	state = ARM_AUTH_IDLE
union {
int32_t   param_value
}	arm_parameters
static uint8_t *	system_id
static uint8_t(*	arm_check_method [ARM_AUTH_METHOD_LAST])()

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
ARM_AUTH_IDLE
ARM_AUTH_WAITING_AUTH
ARM_AUTH_WAITING_AUTH_WITH_ACK
ARM_AUTH_MISSION_APPROVED

Definition at line 53 of file ArmAuthorization.cpp.

Function Documentation

_auth_method_arm_req_check()

static uint8_t _auth_method_arm_req_check ( )

static

Definition at line 93 of file ArmAuthorization.cpp.

References ARM_AUTH_IDLE, ARM_AUTH_MISSION_APPROVED, arm_auth_request_msg_send(), arm_auth_update(), ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK, arm_parameters, auth_timeout, hrt_absolute_time(), hrt_abstime, mavlink_log_critical, mavlink_log_pub, and state.

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_auth_method_two_arm_check()

static uint8_t _auth_method_two_arm_check ( )

static

Definition at line 141 of file ArmAuthorization.cpp.

References ARM_AUTH_IDLE, ARM_AUTH_MISSION_APPROVED, arm_auth_request_msg_send(), ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK, arm_parameters, auth_timeout, hrt_absolute_time(), hrt_abstime, mavlink_log_critical, mavlink_log_pub, and state.

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arm_auth_check()

uint8_t arm_auth_check

(

)

Definition at line 171 of file ArmAuthorization.cpp.

References ARM_AUTH_METHOD_LAST, arm_check_method, and arm_parameters.

Referenced by PreFlightCheck::preArmCheck().

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arm_auth_init()

void arm_auth_init	(	orb_advert_t *	mav_log_pub,
		uint8_t *	sys_id
	)

Definition at line 276 of file ArmAuthorization.cpp.

References command_ack_sub, mavlink_log_pub, ORB_ID, orb_subscribe(), param_arm_parameters, and param_find().

Referenced by Commander::run().

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arm_auth_method_get()

enum arm_auth_methods arm_auth_method_get

(

)

Definition at line 284 of file ArmAuthorization.cpp.

References arm_parameters.

arm_auth_request_msg_send()

static void arm_auth_request_msg_send ( )

static

Definition at line 82 of file ArmAuthorization.cpp.

References arm_parameters, hrt_absolute_time(), ORB_ID, and vehicle_command_s::timestamp.

Referenced by _auth_method_arm_req_check(), and _auth_method_two_arm_check().

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arm_auth_update()

void arm_auth_update	(	hrt_abstime	now,
		bool	param_update
	)

Definition at line 180 of file ArmAuthorization.cpp.

References ARM_AUTH_IDLE, ARM_AUTH_MISSION_APPROVED, ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK, arm_parameters, auth_timeout, vehicle_command_ack_s::command, command_ack_sub, mavlink_log_critical, mavlink_log_pub, orb_check(), orb_copy(), ORB_ID, param_arm_parameters, param_get(), vehicle_command_ack_s::result, vehicle_command_ack_s::result_param1, vehicle_command_ack_s::result_param2, state, and vehicle_command_ack_s::target_system.

Referenced by _auth_method_arm_req_check(), and Commander::run().

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Variable Documentation

arm_check_method

uint8_t(* arm_check_method[ARM_AUTH_METHOD_LAST])()

static

Initial value:

= {
    _auth_method_arm_req_check,
    _auth_method_two_arm_check,
}

Definition at line 77 of file ArmAuthorization.cpp.

Referenced by arm_auth_check().

arm_parameters

union { ... } arm_parameters

Referenced by _auth_method_arm_req_check(), _auth_method_two_arm_check(), arm_auth_check(), arm_auth_method_get(), arm_auth_request_msg_send(), and arm_auth_update().

auth_method_arm_timeout_msec

uint16_t auth_method_arm_timeout_msec

Definition at line 64 of file ArmAuthorization.cpp.

auth_method_param

union { ... } auth_method_param

auth_method_two_arm_timeout_msec

uint16_t auth_method_two_arm_timeout_msec

Definition at line 65 of file ArmAuthorization.cpp.

auth_timeout

hrt_abstime auth_timeout

static

Definition at line 51 of file ArmAuthorization.cpp.

Referenced by _auth_method_arm_req_check(), _auth_method_two_arm_check(), and arm_auth_update().

authentication_method

uint8_t authentication_method

Definition at line 67 of file ArmAuthorization.cpp.

authorizer_system_id

uint8_t authorizer_system_id

Definition at line 62 of file ArmAuthorization.cpp.

command_ack_sub

int command_ack_sub = -1

static

Definition at line 47 of file ArmAuthorization.cpp.

Referenced by arm_auth_init(), and arm_auth_update().

mavlink_log_pub

orb_advert_t* mavlink_log_pub

static

Definition at line 46 of file ArmAuthorization.cpp.

Referenced by _auth_method_arm_req_check(), _auth_method_two_arm_check(), arm_auth_init(), arm_auth_update(), do_accel_calibration_measurements(), do_gyro_calibration(), and mag_calibrate_all().

param_arm_parameters

param_t param_arm_parameters

static

Definition at line 49 of file ArmAuthorization.cpp.

Referenced by arm_auth_init(), and arm_auth_update().

param_value

int32_t param_value

Definition at line 69 of file ArmAuthorization.cpp.

Referenced by MavlinkParametersManager::handle_message(), px4muorb_param_update_to_shmem(), px4muorb_param_update_value_from_shmem(), and MavlinkParametersManager::send_param().

state

enum { ... } state

Referenced by _auth_method_arm_req_check(), _auth_method_two_arm_check(), TECS::_update_height_setpoint(), arm_auth_update(), dump_validator_state(), frsky_parse_host(), PrecLand::get_mode(), hardfault_check_status(), hardfault_commit(), param_import_callback(), param_import_internal(), tap_esc_common::parse_tap_esc_feedback(), ppm_input(), MPU6000::reset(), control::BlockLowPass::setState(), control::BlockLowPassVector< float, n_x >::setState(), SF0XTest::sf0xTest(), test_init(), test_stale_detector(), __EXPORT::SPI::transfer(), __EXPORT::SPI::transferhword(), uavcan_kinetis::CanIface::waitMCRChange(), uavcan_stm32::CanIface::waitMsrINakBitStateChange(), and landing_target_estimator::KalmanFilter::~KalmanFilter().

system_id

uint8_t* system_id

static

Definition at line 72 of file ArmAuthorization.cpp.