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; }