wip: improve prearm handling

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/bit_subsystems/esc.lua

@@ -149,22 +149,14 @@ function ESC:update()
     end
 end
 
--- Return error code
+-- Return error messages
 function ESC:check_for_errors()
-    local error_count = 0
     for _, status in ipairs(self.srv_telem_in_err_status) do
         if status then
-            error_count = error_count + 1
+            return {"ESC Telemetry Lost"}
         end
     end
-    for _, status in ipairs(self.srv_rpm_in_err_status) do
-        if status then
-            error_count = error_count + 1
-        end
-    end
-
-    -- No errors found
-    return error_count
+    return {}
 end
 
 return ESC

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua

@@ -1,5 +1,6 @@
 local cx_msg = require("scripts.utils.msg")
 local cx_esc = require("scripts.bit_subsystems.esc")
+local cx_gps = require("scripts.bit_subsystems.gps")
 
 -- Add subsystems that require Built-in-test (implemented in subsystems)
 -- Each subsystem should have the following functions:
@@ -9,9 +10,32 @@ local cx_esc = require("scripts.bit_subsystems.esc")
 --                       - built in test errors are managed by each subsystem
 local subsystems = {
     cx_esc,
+    cx_gps,
 }
 
+-- auth id for prearm check
+local prearm_msg = nil
+local auth_id = arming:get_aux_auth_id()
+assert(auth_id, SCRIPT_NAME .. ": could not get prearm check auth id")
+
 -- ******************* Functions *******************
+-- get time in seconds since boot
+local function get_time()
+    return millis():tofloat() * 0.001
+end
+
+local function set_prearm_error(txt)
+    if (not prearm_msg) or (prearm_msg ~= txt) then
+        prearm_msg = txt
+        arming:set_aux_auth_failed(auth_id, txt)
+    end
+end
+
+local function clear_prearm_error()
+    prearm_msg = nil
+    arming:set_aux_auth_passed(auth_id)
+end
+
 -- initialize function
 local function init()
     -- initialize all subsystems that are part of constructor
@@ -24,32 +48,58 @@ local function init()
 end
 
 -- Pre-arm status check before arming
+local last_prearm_msg_s = 0 -- timestamp of last message sent
+local prearm_messages = {} -- Set of all unique messages seen since we last sent
 local function check_prearm_status()
     -- Track errors in subsystems
     local subsystems_with_errors = {}
-    local total_errors = 0
-
+    local msg = ""
     for _, subsystem in pairs(subsystems) do
-        local error_count = subsystem:check_for_errors()
-        if error_count > 0 then
-            table.insert(subsystems_with_errors, { name = subsystem.name, errors = error_count })
-            total_errors = total_errors + error_count
+        local errors = subsystem:check_for_errors()
+        if #errors > 0 then
+            table.insert(subsystems_with_errors, subsystem.name)
+            for _, error in pairs(errors) do
+                prearm_messages[error] = true
+            end
+            if #errors == 1 then
+                msg = errors[1]
+            else
+                msg = errors .. " " .. subsystem.name " errors. Check messages."
+            end
         end
     end
 
-    -- Handle error cases
+    -- Handle prearm
     if #subsystems_with_errors == 0 then
-        -- No subsystems have errors, clear error flag
-        cx_msg:clear_prearm_error()
+        clear_prearm_error()
     elseif #subsystems_with_errors == 1 then
-        -- Only one subsystem has errors
-        local subsystem = subsystems_with_errors[1]
-        msg = subsystem.name .. " (" .. subsystem.errors .. " checks fail)"
-        cx_msg:set_prearm_error(msg)
+        set_prearm_error(msg)
     else
-        -- More than one subsystems has errors
-        msg = #subsystems_with_errors .. " subsystems (" .. total_errors .. " checks) failing. Check messages"
-        cx_msg:set_prearm_error(msg)
+        msg = ""
+        for _, subsystem in pairs(subsystems_with_errors) do
+            msg = msg .. subsystem .. ", "
+        end
+        msg = msg:sub(1, -3) .. " failing. Check messages."
+        set_prearm_error(msg)
+    end
+
+    -- Every 2 seconds, send a message with all the unique errors seen. This
+    -- helps the operator see the specific errors if there are more than one
+    -- (since the prearm library only allows one error message for all scripts
+    -- to share)
+    if get_time() - last_prearm_msg_s > 2 or get_time() < last_prearm_msg_s then
+        -- Count the number of unique errors (# operator doesn't work on sets)
+        local num_prearm_errors = 0
+        for _ in pairs(prearm_messages) do
+            num_prearm_errors = num_prearm_errors + 1
+        end
+        if num_prearm_errors > 1 then
+            for err, _ in pairs(prearm_messages) do
+                gcs:send_text(cx_msg.MAV_SEVERITY.CRITICAL, "Prearm: " .. err)
+            end
+        end
+        last_prearm_msg_s = get_time()
+        prearm_messages = {}
     end
 end
 

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/utils/msg.lua

@@ -2,32 +2,10 @@
 SCRIPT_NAME = 'CX_BIT'
 
 local msg = {
-
     -- MAVLink severity level definitions
     MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7},
-
-    -- auth id for prearm check
-    prearm_msg = "nil",
-    auth_id = arming:get_aux_auth_id(),
 }
 
-assert(msg.auth_id, SCRIPT_NAME .. ": could not get prearm check auth id")
-
-function msg:set_prearm_error(txt)
-    if self.prearm_msg == nil or self.prearm_msg ~= txt then
-        self.prearm_msg = txt
-        arming:set_aux_auth_failed(self.auth_id, txt)
-        self:send(self.MAV_SEVERITY.WARNING, txt)
-    end
-end
-
-function msg:clear_prearm_error()
-    if self.prearm_msg ~= nil then
-        self.prearm_msg = nil
-        arming:set_aux_auth_passed(self.auth_id)
-    end
-end
-
 -- wrapper for gcs:send_text(). Helps identify bit messages
 function msg:send(severity, txt)
     if type(severity) == 'string' then