bool AP_Arming::arm_checks(ArmingMethod method)
{
// ensure the GPS drivers are ready on any final changes
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
if (!AP::gps().prepare_for_arming()) {
return false;
}
}
// check system health on arm as well as prearm
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_SYSTEM)) {
if (!system_checks(true)) {
return false;
}
}
// note that this will prepare DataFlash to start logging
// so should be the last check to be done before arming
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
DataFlash_Class *df = DataFlash_Class::instance();
df->PrepForArming();
if (!df->logging_started()) {
check_failed(ARMING_CHECK_LOGGING, true, "Logging not started");
return false;
}
}
return true;
}
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
if (armed || require == NO) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
}
#endif
return hardware_safety_check(report)
& barometer_checks(report)
& ins_checks(report)
& compass_checks(report)
& gps_checks(report)
& battery_checks(report)
& logging_checks(report)
& manual_transmitter_checks(report)
& servo_checks(report)
& board_voltage_checks(report)
& system_checks(report);
}
SAL_IMPLEMENT_MAIN_WITH_ARGS( argc, argv )
{
sal_Bool bSentArgs = sal_False;
const char* pUsePlugin;
rtl_uString *pPipePath = NULL;
Args *args;
int status = 0;
struct splash* splash = NULL;
struct sigaction sigpipe_action;
struct sigaction sigterm_action;
/* turn SIGPIPE into an error */
memset(&sigpipe_action, 0, sizeof(struct sigaction));
sigpipe_action.sa_handler = SIG_IGN;
sigemptyset(&sigpipe_action.sa_mask);
sigaction(SIGPIPE, &sigpipe_action, NULL);
memset(&sigterm_action, 0, sizeof(struct sigaction));
sigterm_action.sa_handler = &sigterm_handler;
sigemptyset(&sigterm_action.sa_mask);
sigaction(SIGTERM, &sigterm_action, NULL);
args = args_parse ();
args->pAppPath = get_app_path( argv[0] );
if ( !args->pAppPath )
{
fprintf( stderr, "ERROR: Can't read app link\n" );
exit( 1 );
}
#ifndef ENABLE_QUICKSTART_LIBPNG
/* we can't load and render it anyway */
args->bInhibitSplash = sal_True;
#endif
pUsePlugin = getenv( "SAL_USE_VCLPLUGIN" );
if ( pUsePlugin && !strcmp(pUsePlugin, "svp") )
args->bInhibitSplash = sal_True;
if ( !args->bInhibitPipe && getenv("LIBO_XDGAPP") == NULL )
{
int fd = 0;
pPipePath = get_pipe_path( args->pAppPath );
if ( ( fd = connect_pipe( pPipePath ) ) >= 0 )
{
// Wait for answer
char resp[ strlen( "InternalIPC::SendArguments" ) + 1];
ssize_t n = read( fd, resp, SAL_N_ELEMENTS( resp ) );
if (n == (ssize_t) SAL_N_ELEMENTS( resp )
&& (memcmp(
resp, "InternalIPC::SendArguments",
SAL_N_ELEMENTS( resp ) - 1) == 0)) {
rtl_uString *pCwdPath = NULL;
osl_getProcessWorkingDir( &pCwdPath );
// Then send args
bSentArgs = send_args( fd, pCwdPath );
}
close( fd );
}
}
if ( !bSentArgs )
{
/* we have to prepare for, and exec the binary */
int nPercent = 0;
ChildInfo *info;
sal_Bool bAllArgs = sal_True;
sal_Bool bShortWait, bRestart;
/* sanity check pieces */
system_checks();
/* load splash image and create window */
if ( !args->bInhibitSplash )
{
splash = splash_create(args->pAppPath, argc, argv);
}
/* pagein */
if (!args->bInhibitPagein)
exec_pagein (args);
/* javaldx */
#if HAVE_FEATURE_JAVA
if (!args->bInhibitJavaLdx)
exec_javaldx (args);
#endif
do
{
bRestart = sal_False;
/* fast updates if we have somewhere to update it to */
bShortWait = splash ? sal_True : sal_False;
/* Periodically update the splash & the percent according
to what status_fd says, poll quickly only while starting */
info = child_spawn (args, bAllArgs, bShortWait);
g_pProcess = info->child;
while (!child_exited_wait (info, bShortWait))
{
ProgressStatus eResult;
splash_draw_progress( splash, nPercent );
eResult = read_percent( info, &nPercent );
if (eResult != ProgressContinue)
{
splash_destroy(splash);
splash = NULL;
bShortWait = sal_False;
}
}
status = child_get_exit_code(info);
g_pProcess = NULL; // reset
switch (status) {
case EXITHELPER_CRASH_WITH_RESTART: // re-start with just -env: parameters
bRestart = sal_True;
bAllArgs = sal_False;
break;
case EXITHELPER_NORMAL_RESTART: // re-start with all arguments
bRestart = sal_True;
bAllArgs = sal_True;
break;
default:
break;
}
child_info_destroy (info);
} while (bRestart);
}
/* cleanup */
if ( pPipePath )
rtl_uString_release( pPipePath );
args_free (args);
return status;
}
