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include multiple encoding errors in OPEN_DRONE_ID_ARM_STATUS message #102

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merged 2 commits into from
Oct 14, 2023
Merged

include multiple encoding errors in OPEN_DRONE_ID_ARM_STATUS message #102

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78115fb
give longer description of pre-arm failure reasons
BluemarkInnovations Feb 6, 2023
ca64a22
cleanup string handling
tridge Oct 14, 2023
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35 changes: 26 additions & 9 deletions RemoteIDModule/RemoteIDModule.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -131,39 +131,58 @@ void setup()
/*
check parsing of UAS_data, this checks ranges of values to ensure we
will produce a valid pack
returns nullptr on no error, or a string error
*/
static const char *check_parse(void)
{
String ret = "";

{
ODID_Location_encoded encoded {};
if (encodeLocationMessage(&encoded, &UAS_data.Location) != ODID_SUCCESS) {
return "bad LOCATION data";
ret += "LOC ";
}
}
{
ODID_System_encoded encoded {};
if (encodeSystemMessage(&encoded, &UAS_data.System) != ODID_SUCCESS) {
return "bad SYSTEM data";
ret += "SYS ";
}
}
{
ODID_BasicID_encoded encoded {};
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[0]) != ODID_SUCCESS) {
return "bad BASIC_ID data";
if (UAS_data.BasicIDValid[0] == 1) {
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[0]) != ODID_SUCCESS) {
ret += "ID_1 ";
}
}
memset(&encoded, 0, sizeof(encoded));
if (UAS_data.BasicIDValid[1] == 1) {
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[1]) != ODID_SUCCESS) {
ret += "ID_2 ";
}
}
}
{
ODID_SelfID_encoded encoded {};
if (encodeSelfIDMessage(&encoded, &UAS_data.SelfID) != ODID_SUCCESS) {
return "bad SELF_ID data";
ret += "SELF_ID ";
}
}
{
ODID_OperatorID_encoded encoded {};
if (encodeOperatorIDMessage(&encoded, &UAS_data.OperatorID) != ODID_SUCCESS) {
return "bad OPERATOR_ID data";
ret += "OP_ID ";
}
}
if (ret.length() > 0) {
// if all errors would occur in this function, it will fit in
// 50 chars that is also the max for the arm status message
static char return_string[50];
memset(return_string, 0, sizeof(return_string));
snprintf(return_string, sizeof(return_string-1), "bad %s data", ret.c_str());
return return_string;
}
return nullptr;
}

Expand Down Expand Up @@ -306,9 +325,7 @@ static void set_data(Transport &t)
}

const char *reason = check_parse();
if (reason == nullptr) {
t.arm_status_check(reason);
}
t.arm_status_check(reason);
t.set_parse_fail(reason);

arm_check_ok = (reason==nullptr);
Expand Down
54 changes: 39 additions & 15 deletions RemoteIDModule/transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,24 +45,49 @@ uint8_t Transport::arm_status_check(const char *&reason)
return status;
}

String ret = "";

if (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms) {
reason = "missing location message";
} else if (!g.have_basic_id_info() && (last_basic_id_ms == 0 || now_ms - last_basic_id_ms > max_age_other_ms)) {
reason = "missing basic_id message";
} else if (last_self_id_ms == 0 || now_ms - last_self_id_ms > max_age_other_ms) {
reason = "missing self_id message";
} else if (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms) {
reason = "missing operator_id message";
} else if (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms) {
ret += "LOC ";
}
if (!g.have_basic_id_info()) {
// if there is no basic ID data stored in the parameters give warning. If basic ID data are streamed to RID device,
// it will store them in the parameters
ret += "ID ";
}

if (last_self_id_ms == 0 || now_ms - last_self_id_ms > max_age_other_ms) {
ret += "SELF_ID ";
}

if (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms) {
ret += "OP_ID ";
}

if (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms) {
// we use location age limit for system as the operator location needs to come in as fast
// as the vehicle location for FAA standard
reason = "missing system message";
} else if (location.latitude == 0 && location.longitude == 0) {
reason = "Bad location";
} else if (system.operator_latitude == 0 && system.operator_longitude == 0) {
reason = "Bad operator location";
} else if (reason == nullptr) {
ret += "SYS ";
}

if (location.latitude == 0 && location.longitude == 0) {
ret += "LOC ";
}

if (system.operator_latitude == 0 && system.operator_longitude == 0) {
ret += "OP_LOC ";
}

if (ret.length() == 0 && reason == nullptr) {
status = MAV_ODID_ARM_STATUS_GOOD_TO_ARM;
} else {
static char return_string[200];
memset(return_string, 0, sizeof(return_string));
if (reason != nullptr) {
strlcpy(return_string, reason, sizeof(return_string));
}
strlcat(return_string, ret.c_str(), sizeof(return_string));
reason = return_string;
}

return status;
Expand Down Expand Up @@ -128,4 +153,3 @@ bool Transport::check_signature(uint8_t sig_length, uint8_t data_len, uint32_t s
}
return false;
}

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