Switched to enum class out of class definition

src/modules/systemlib/mixer/mixer.h

@@ -441,6 +441,14 @@ private:
 	SimpleMixer operator=(const SimpleMixer&);
 };
 
+
+/**
+ * Supported multirotor geometries.
+ *
+ * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
+ */
+enum class MultirotorGeometry : unsigned int;
+
 /**
  * Multi-rotor mixer for pre-defined vehicle geometries.
  *
@@ -450,13 +458,6 @@ private:
 class __EXPORT MultirotorMixer : public Mixer
 {
 public:
-	/**
-	 * Supported multirotor geometries.
-	 *
-	 * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
-	 */
-	enum Geometry : unsigned int;
-
 	/**
 	 * Precalculated rotor mix.
 	 */
@@ -484,7 +485,7 @@ public:
 	 */
 	MultirotorMixer(ControlCallback control_cb,
 			uintptr_t cb_handle,
-			Geometry geometry,
+			MultirotorGeometry geometry,
 			float roll_scale,
 			float pitch_scale,
 			float yaw_scale,

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -52,6 +52,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <math.h>
+#include <type_traits>
 
 #include "mixer.h"
 
@@ -77,9 +78,11 @@ float constrain(float val, float min, float max)
 }
 }
 
+using GeometryType = typename std::underlying_type<MultirotorGeometry>::type;
+
 MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 				 uintptr_t cb_handle,
-				 Geometry geometry,
+				 MultirotorGeometry geometry,
 				 float roll_scale,
 				 float pitch_scale,
 				 float yaw_scale,
@@ -89,8 +92,8 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 	_pitch_scale(pitch_scale),
 	_yaw_scale(yaw_scale),
 	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
-	_rotor_count(_config_rotor_count[geometry]),
-	_rotors(_config_index[geometry])
+	_rotor_count(_config_rotor_count[(GeometryType)geometry]),
+	_rotors(_config_index[(GeometryType)geometry])
 {
 }
 
@@ -101,7 +104,7 @@ MultirotorMixer::~MultirotorMixer()
 MultirotorMixer *
 MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
 {
-	MultirotorMixer::Geometry geometry;
+	MultirotorGeometry geometry;
 	char geomname[8];
 	int s[4];
 	int used;
@@ -141,37 +144,37 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
 
 	if (!strcmp(geomname, "4+")) {
-		geometry = MultirotorMixer::QUAD_PLUS;
+		geometry = MultirotorGeometry::QUAD_PLUS;
 
 	} else if (!strcmp(geomname, "4x")) {
-		geometry = MultirotorMixer::QUAD_X;
+		geometry = MultirotorGeometry::QUAD_X;
 
 	} else if (!strcmp(geomname, "4v")) {
-		geometry = MultirotorMixer::QUAD_V;
+		geometry = MultirotorGeometry::QUAD_V;
 
 	} else if (!strcmp(geomname, "4w")) {
-		geometry = MultirotorMixer::QUAD_WIDE;
+		geometry = MultirotorGeometry::QUAD_WIDE;
 
 	} else if (!strcmp(geomname, "6+")) {
-		geometry = MultirotorMixer::HEX_PLUS;
+		geometry = MultirotorGeometry::HEX_PLUS;
 
 	} else if (!strcmp(geomname, "6x")) {
-		geometry = MultirotorMixer::HEX_X;
+		geometry = MultirotorGeometry::HEX_X;
 
 	} else if (!strcmp(geomname, "6c")) {
-		geometry = MultirotorMixer::HEX_COX;
+		geometry = MultirotorGeometry::HEX_COX;
 
 	} else if (!strcmp(geomname, "8+")) {
-		geometry = MultirotorMixer::OCTA_PLUS;
+		geometry = MultirotorGeometry::OCTA_PLUS;
 
 	} else if (!strcmp(geomname, "8x")) {
-		geometry = MultirotorMixer::OCTA_X;
+		geometry = MultirotorGeometry::OCTA_X;
 		
 	} else if (!strcmp(geomname, "8c")) {
-		geometry = MultirotorMixer::OCTA_COX;
+		geometry = MultirotorGeometry::OCTA_COX;
 
 	} else if (!strcmp(geomname, "2-")) {
-		geometry = MultirotorMixer::TWIN_ENGINE;
+		geometry = MultirotorGeometry::TWIN_ENGINE;
 	} else {
 		debug("unrecognised geometry '%s'", geomname);
 		return nullptr;

src/modules/systemlib/mixer/multi_tables

@@ -151,12 +151,12 @@ tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x
 
 
 def printEnum():
-    print "enum MultirotorMixer::Geometry : unsigned int {"
+    print "enum class MultirotorGeometry : unsigned int {"
     for table in tables:
         print "\t{},".format(variableName(table).upper())
 
     print "\n\tMAX_GEOMETRY"
-    print "}; // enum MultirotorMixer::Geometry\n"
+    print "}; // enum class MultirotorGeometry\n"
 
 def printScaleTables():
     for table in tables: