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Refactored state-machine strings #12298

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Jun 17, 2019
Merged

Refactored state-machine strings #12298

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46 changes: 23 additions & 23 deletions src/modules/commander/state_machine_helper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -226,7 +226,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
if (ret == TRANSITION_DENIED) {
/* print to MAVLink and console if we didn't provide any feedback yet */
if (!feedback_provided) {
mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s to %s",
mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s",
arming_state_names[status->arming_state], arming_state_names[new_arming_state]);
}
}
Expand Down Expand Up @@ -922,7 +922,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe");
}

prearm_ok = false;
Expand All @@ -934,7 +934,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
// Fail transition if power is not good
if (!status_flags.condition_power_input_valid) {
if (reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Connect power module");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module");
}

prearm_ok = false;
Expand All @@ -943,7 +943,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
// main battery level
if (!status_flags.condition_battery_healthy) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: CHECK BATTERY");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery");
}

prearm_ok = false;
Expand All @@ -955,15 +955,15 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s

if (!status_flags.condition_auto_mission_available) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: valid mission required");
mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission");
}

prearm_ok = false;
}

if (!status_flags.condition_global_position_valid) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: mission requires global position");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position");
}

prearm_ok = false;
Expand All @@ -975,7 +975,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s

if (!status_flags.condition_global_position_valid) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required");
}

prearm_ok = false;
Expand All @@ -986,7 +986,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
if (safety.safety_switch_available && !safety.safety_off) {
// Fail transition if we need safety switch press
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Press safety switch first");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first");
}

prearm_ok = false;
Expand All @@ -1003,7 +1003,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s

if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Avoidance system not ready");
mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
}

prearm_ok = false;
Expand All @@ -1023,16 +1023,16 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;

case battery_status_s::BATTERY_WARNING_LOW:
mavlink_log_critical(mavlink_log_pub, "LOW BATTERY, RETURN ADVISED");
mavlink_log_critical(mavlink_log_pub, "Low battery level! Return advised");
break;

case battery_status_s::BATTERY_WARNING_CRITICAL:

static constexpr char battery_critical[] = "CRITICAL BATTERY";
static constexpr char battery_critical[] = "Critical battery level!";

switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_critical(mavlink_log_pub, "%s, RETURN ADVISED!", battery_critical);
mavlink_log_critical(mavlink_log_pub, "%s, Landing advised", battery_critical);
break;

case LOW_BAT_ACTION::RETURN:
Expand All @@ -1043,21 +1043,21 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
// let us send the critical message even if already in RTL
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
internal_state)) {
mavlink_log_critical(mavlink_log_pub, "%s, RETURNING", battery_critical);
mavlink_log_critical(mavlink_log_pub, "%s, Executing RTL", battery_critical);

} else {
mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_critical);
mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_critical);
}

break;

case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
internal_state)) {
mavlink_log_critical(mavlink_log_pub, "%s, LANDING AT CURRENT POSITION", battery_critical);
mavlink_log_critical(mavlink_log_pub, "%s, Landing immediately", battery_critical);

} else {
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_critical);
mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_critical);
}

break;
Expand All @@ -1067,20 +1067,20 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta

case battery_status_s::BATTERY_WARNING_EMERGENCY:

static constexpr char battery_dangerous[] = "DANGEROUS BATTERY LEVEL";
static constexpr char battery_dangerous[] = "Dangerous battery level!";

switch (low_battery_action) {
case LOW_BAT_ACTION::WARNING:
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING ADVISED!", battery_dangerous);
mavlink_log_emergency(mavlink_log_pub, "%s, Please land!", battery_dangerous);
break;

case LOW_BAT_ACTION::RETURN:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "%s, RETURNING", battery_dangerous);
mavlink_log_emergency(mavlink_log_pub, "%s, Executing RTL", battery_dangerous);

} else {
mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_dangerous);
mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_dangerous);
}

break;
Expand All @@ -1091,10 +1091,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING IMMEDIATELY", battery_dangerous);
mavlink_log_emergency(mavlink_log_pub, "%s, Landing immediately", battery_dangerous);

} else {
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_dangerous);
mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_dangerous);
}

break;
Expand All @@ -1103,7 +1103,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;

case battery_status_s::BATTERY_WARNING_FAILED:
mavlink_log_emergency(mavlink_log_pub, "BATTERY FAILED");
mavlink_log_emergency(mavlink_log_pub, "Battery failure detected");
break;
}
}