Mirrors_Framework/PX4-Autopilot
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commander fix and enforce code style

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This commit is contained in:
Daniel Agar
2018-11-28 17:11:15 -05:00
parent 91721f2060
commit 48d9484ceb
16 changed files with 855 additions and 481 deletions
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src/modules/commander/arm_auth.cpp
+26 -6
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@@ -85,6 +85,7 @@ static void arm_auth_request_msg_send()
if (handle_vehicle_command_pub == nullptr) {
handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &vcmd);
}
@@ -96,8 +97,10 @@ static uint8_t _auth_method_arm_req_check()
case ARM_AUTH_IDLE:
/* no authentication in process? handle bellow */
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
}
@@ -127,12 +130,13 @@ static uint8_t _auth_method_arm_req_check()
state = ARM_AUTH_IDLE;
mavlink_log_critical(mavlink_log_pub, "Arm auth: No response");
break;
default:
break;
}
return state == ARM_AUTH_MISSION_APPROVED ?
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
}
static uint8_t _auth_method_two_arm_check()
@@ -141,11 +145,14 @@ static uint8_t _auth_method_two_arm_check()
case ARM_AUTH_IDLE:
/* no authentication in process? handle bellow */
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
case ARM_AUTH_WAITING_AUTH:
case ARM_AUTH_WAITING_AUTH_WITH_ACK:
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
}
@@ -174,7 +181,7 @@ uint8_t arm_auth_check()
void arm_auth_update(hrt_abstime now, bool param_update)
{
if (param_update) {
param_get(param_arm_parameters, (int32_t*)&arm_parameters);
param_get(param_arm_parameters, (int32_t *)&arm_parameters);
}
switch (state) {
@@ -182,11 +189,14 @@ void arm_auth_update(hrt_abstime now, bool param_update)
case ARM_AUTH_WAITING_AUTH_WITH_ACK:
/* handle bellow */
break;
case ARM_AUTH_MISSION_APPROVED:
if (now > auth_timeout) {
state = ARM_AUTH_IDLE;
}
return;
case ARM_AUTH_IDLE:
default:
return;
@@ -199,50 +209,60 @@ void arm_auth_update(hrt_abstime now, bool param_update)
bool updated = false;
orb_check(command_ack_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_command_ack), command_ack_sub, &command_ack);
}
if (updated
&& command_ack.command == vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST
&& command_ack.target_system == *system_id) {
&& command_ack.command == vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST
&& command_ack.target_system == *system_id) {
switch (command_ack.result) {
case vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS:
state = ARM_AUTH_WAITING_AUTH_WITH_ACK;
break;
case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
mavlink_log_critical(mavlink_log_pub,
"Arm auth: Authorized for the next %u seconds",
command_ack.result_param2);
"Arm auth: Authorized for the next %u seconds",
command_ack.result_param2);
state = ARM_AUTH_MISSION_APPROVED;
auth_timeout = now + (command_ack.result_param2 * 1000000);
return;
case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Temporarily rejected");
state = ARM_AUTH_IDLE;
return;
case vehicle_command_ack_s::VEHICLE_RESULT_DENIED:
default:
switch (command_ack.result_param1) {
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
/* Authorizer will send reason to ground station */
break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied, waypoint %i have a invalid value", command_ack.result_param2);
break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_TIMEOUT:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied by timeout in authorizer");
break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied because airspace is in use");
break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_BAD_WEATHER:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied because of bad weather");
break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_GENERIC:
default:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied");
}
state = ARM_AUTH_IDLE;
return;
}