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LibrePilot/flight/libraries/alarms.c

391 lines
13 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
#include "inc/alarms.h"
// Private constants
#ifndef PIOS_ALARM_GRACETIME
// alarm cannot be turned off for at least 1000 milliseconds
// to prevent event system overload through flapping alarms
#define PIOS_ALARM_GRACETIME 1000
#endif // PIOS_ALARM_GRACETIME
// Private types
// Private variables
static xSemaphoreHandle lock;
static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
// do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
// AlarmsClearAll();
// AlarmsDefaultAll();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsAlarmData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsAlarmGet(&alarms);
uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
SystemAlarmsAlarmToArray(alarms)[alarm] != severity)
|| SystemAlarmsAlarmToArray(alarms)[alarm] < severity) {
SystemAlarmsAlarmToArray(alarms)[alarm] = severity;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsAlarmSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Set an Extended Alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @param status The Extended alarm status field
* @param subStatus The Extended alarm substatus field
* @return 0 if success, -1 if an error
*/
int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
SystemAlarmsAlarmOptions severity,
SystemAlarmsExtendedAlarmStatusOptions status,
uint8_t subStatus)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] != severity)
|| SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] < severity) {
SystemAlarmsExtendedAlarmStatusToArray(alarms.ExtendedAlarmStatus)[alarm] = status;
SystemAlarmsExtendedAlarmSubStatusToArray(alarms.ExtendedAlarmSubStatus)[alarm] = subStatus;
SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] = severity;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsAlarmData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
return 0;
}
// Read alarm
SystemAlarmsAlarmGet(&alarms);
return SystemAlarmsAlarmToArray(alarms)[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
} else {
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
}
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsAlarmData alarms;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsAlarmGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
if (SystemAlarmsAlarmToArray(alarms)[n] >= severity) {
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get the highest alarm severity
* @return
*/
SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
{
SystemAlarmsAlarmData alarmsData;
SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsAlarmGet(&alarmsData);
// Go through alarms and find the highest severity
uint32_t n = 0;
while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) {
if (SystemAlarmsAlarmToArray(alarmsData)[n] > highest) {
highest = SystemAlarmsAlarmToArray(alarmsData)[n];
}
n++;
}
xSemaphoreGiveRecursive(lock);
return highest;
}
static const char *const systemalarms_severity_names[] = {
[SYSTEMALARMS_ALARM_UNINITIALISED] = "UNINITIALISED",
[SYSTEMALARMS_ALARM_OK] = "OK",
[SYSTEMALARMS_ALARM_WARNING] = "WARNING",
[SYSTEMALARMS_ALARM_CRITICAL] = "CRITICAL",
[SYSTEMALARMS_ALARM_ERROR] = "ERROR"
};
static const char *const systemalarms_alarm_names[] = {
[SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION] = "CONFIG",
[SYSTEMALARMS_ALARM_BOOTFAULT] = "BOOT",
[SYSTEMALARMS_ALARM_OUTOFMEMORY] = "MEM",
[SYSTEMALARMS_ALARM_STACKOVERFLOW] = "STACK",
[SYSTEMALARMS_ALARM_CPUOVERLOAD] = "CPU",
[SYSTEMALARMS_ALARM_EVENTSYSTEM] = "EVENT",
[SYSTEMALARMS_ALARM_TELEMETRY] = "TELEMETRY",
[SYSTEMALARMS_ALARM_RECEIVER] = "INPUT",
[SYSTEMALARMS_ALARM_MANUALCONTROL] = "MANUAL",
[SYSTEMALARMS_ALARM_ACTUATOR] = "ACTUATOR",
[SYSTEMALARMS_ALARM_ATTITUDE] = "ATTI",
[SYSTEMALARMS_ALARM_SENSORS] = "SENSOR",
[SYSTEMALARMS_ALARM_MAGNETOMETER] = "MAG",
[SYSTEMALARMS_ALARM_AIRSPEED] = "AIRSPD",
[SYSTEMALARMS_ALARM_STABILIZATION] = "STAB",
[SYSTEMALARMS_ALARM_NAV] = "NAV",
[SYSTEMALARMS_ALARM_GUIDANCE] = "GUIDANCE",
[SYSTEMALARMS_ALARM_PATHPLAN] = "PLAN",
[SYSTEMALARMS_ALARM_BATTERY] = "BATT",
[SYSTEMALARMS_ALARM_FLIGHTTIME] = "TIME",
[SYSTEMALARMS_ALARM_I2C] = "I2C",
[SYSTEMALARMS_ALARM_GPS] = "GPS",
};
static const char *const systemalarms_extendedalarmstatus_names[] = {
[SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED] = "CFG:REBOOT",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE] = "CFG:FLIGHTMODE",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT] = "CFG:ONESHOT",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE] = "CFG:THR-COL",
};
size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, SystemAlarmsAlarmOptions level, SystemAlarmsAlarmOptions *highestSeverity)
{
size_t pos = 0;
PIOS_STATIC_ASSERT(NELEMENTS(systemalarms_alarm_names) == SYSTEMALARMS_ALARM_NUMELEM);
for (unsigned severity = SYSTEMALARMS_ALARM_ERROR; severity >= level; --severity) {
// should we prepend severity level here? No, not for now.
for (unsigned i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; ++i) {
if ((SystemAlarmsAlarmToArray(alarm->Alarm)[i] == severity)
&& (systemalarms_alarm_names[i])) {
if (highestSeverity) { // they are already sorted by severity as we are processing in specific order
*highestSeverity = severity;
highestSeverity = 0;
}
// in which case should we dig into extended alarm status?
// looks like SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION sets most of the extended alarms
// except SYSTEMALARMS_ALARM_BOOTFAULT which also sets SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
const char *current_msg = systemalarms_alarm_names[i];
switch (i) {
case SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION:
if (alarm->ExtendedAlarmStatus.SystemConfiguration < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.SystemConfiguration];
}
break;
case SYSTEMALARMS_ALARM_BOOTFAULT:
if (alarm->ExtendedAlarmStatus.BootFault < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.BootFault];
}
break;
}
int current_len = strlen(current_msg);
if ((pos + current_len + 1) > buffer_size) {
break;
}
memcpy(buffer + pos, current_msg, current_len);
pos += current_len;
buffer[pos++] = ',';
}
}
}
if (pos > 0) {
--pos; // get rid of that trailing separator.
}
buffer[pos] = 0;
return pos; // return length of the string in buffer. Actual bytes written is +1
}
/**
* @}
* @}
*/