[WIP] Start adding boilerplates for redundancy logic

Signed-off-by: Jukka Laitinen <[email protected]>

src/modules/redundancy/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__redundancy
+	MAIN redundancy
+	COMPILE_FLAGS
+	SRCS
+		redundancy.cpp
+	)

src/modules/redundancy/Kconfig

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+menuconfig MODULES_REDUNDANCY
+	bool "Redundant FCs present"
+	default n
+	---help---
+		Enable support for FC redundancy, i.e. multiple FCs on the drone
+
+menuconfig USER_REDUNDANCY
+	bool "Redundancy running as userspace module"
+	default y
+	depends on BOARD_PROTECTED && MODULES_REDUNDANCY
+	---help---
+		Put redundancy in userspace memory

src/modules/redundancy/redundancy.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "redundancy.h"
+#include <px4_log.h>
+#include <drivers/drv_hrt.h>
+#include <board_config.h>
+#include <lib/parameters/param.h>
+
+using namespace time_literals;
+
+const unsigned REDUNDANCY_INTERVAL_MS = 10_ms;
+
+Redundancy::Redundancy() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+Redundancy::~Redundancy()
+{
+}
+
+bool Redundancy::send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN)
+{
+	vehicle_command_s vcmd = {};
+	vcmd.timestamp = hrt_absolute_time();
+	vcmd.param1 = param1;
+	vcmd.param2 = param2;
+	vcmd.param3 = NAN;
+	vcmd.param4 = NAN;
+	vcmd.param5 = (double)NAN;
+	vcmd.param6 = (double)NAN;
+	vcmd.param7 = NAN;
+	vcmd.command = cmd;
+	vcmd.target_system = _status.system_id;
+	vcmd.target_component = _status.component_id;
+
+	// publish the vehicle command
+	return _pub_vehicle_command.publish(vcmd);
+}
+
+void Redundancy::manage_arming()
+{
+}
+
+void Redundancy::manage_disarming()
+{
+}
+
+void Redundancy::Run()
+{
+	_status_sub.copy(&_status);
+	_landed_sub.copy(&_landed);
+
+	for (int i = 0; i < vehicle_status_s::MAX_REDUNDANT_CONTROLLERS; i++) {
+		_redundant_status_sub[i].copy(&_redundant_status[i]);
+	}
+
+	if (_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
+		manage_arming();
+
+	} else {
+		manage_disarming();
+	}
+
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	ScheduleDelayed(REDUNDANCY_INTERVAL_MS);
+}
+
+int Redundancy::task_spawn(int argc, char *argv[])
+{
+	Redundancy *instance = new Redundancy();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		instance->ScheduleNow();
+
+		return PX4_OK;
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+
+int Redundancy::custom_command(int argc, char *argv[])
+{
+	print_usage("unrecognized command");
+
+	return 0;
+}
+
+int Redundancy::print_usage(const char *reason)
+{
+	if (reason) {
+		printf("%s\n\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Background process running periodically to perform redundancy related tasks,
+such as arming / disarming redundant FCs and doing fault detection and handling
+
+The tasks can be started via CLI
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("redundancy", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int redundancy_main(int argc, char *argv[])
+{
+	return Redundancy::main(argc, argv);
+}

src/modules/redundancy/redundancy.h

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+/****************************************************************************
+ *
+ *   Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_land_detected.h>
+
+class Redundancy final : public ModuleBase<Redundancy>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	Redundancy();
+	~Redundancy() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void Run() override;
+
+private:
+	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
+	vehicle_status_s _status;
+
+	uORB::Subscription _redundant_status_sub[vehicle_status_s::MAX_REDUNDANT_CONTROLLERS] {ORB_ID(vehicle_status), ORB_ID(vehicle_status)};
+	vehicle_status_s _redundant_status[vehicle_status_s::MAX_REDUNDANT_CONTROLLERS];
+
+	uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)};;
+	vehicle_land_detected_s _landed;
+
+	uORB::Publication<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)};
+
+	uint16_t _redundant_fc_arming{0};
+	uint16_t _redundant_fc_disarming{0};
+
+	bool send_vehicle_command(uint16_t cmd, float param1, float param2);
+
+	void manage_arming();
+	void manage_disarming();
+
+};