HealthFlags.cpp

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/**
 * @file HealthFlags.cpp
 *
 * Contains helper functions to efficiently set the system health flags from commander and preflight check.
 *
 * @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
 */

#include "HealthFlags.h"

void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
{
    PX4_DEBUG("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);

    if (present) {
        status.onboard_control_sensors_present |= (uint32_t)subsystem_type;

    } else {
        status.onboard_control_sensors_present &= ~(uint32_t)subsystem_type;
    }

    if (enabled) {
        status.onboard_control_sensors_enabled |= (uint32_t)subsystem_type;

    } else {
        status.onboard_control_sensors_enabled &= ~(uint32_t)subsystem_type;
    }

    if (ok) {
        status.onboard_control_sensors_health |= (uint32_t)subsystem_type;

    } else {
        status.onboard_control_sensors_health &= ~(uint32_t)subsystem_type;
    }
}

void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status)
{
    set_health_flags(subsystem_type, present, status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy,
             status);
}

void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status)
{
    set_health_flags(subsystem_type, status.onboard_control_sensors_present & (uint32_t)subsystem_type,
             status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status);
}