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commander delete unused main_state_prev

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This commit is contained in:
Daniel Agar
2018-03-27 15:35:55 -04:00
parent c194c1acb5
commit 8c8fe17ff3
4 changed files with 76 additions and 83 deletions
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src/modules/commander/commander.cpp
+72 -75
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File diff suppressed because it is too large Load Diff
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+1 -3
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@@ -448,8 +448,6 @@ bool StateMachineHelperTest::mainStateTransitionTest()
struct commander_state_s current_commander_state = {}; struct commander_state_s current_commander_state = {};
struct vehicle_status_flags_s current_status_flags = {}; struct vehicle_status_flags_s current_status_flags = {};
uint8_t main_state_prev = 0;
current_commander_state.main_state = test->from_state; current_commander_state.main_state = test->from_state;
current_vehicle_status.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING; current_vehicle_status.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID; current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
@@ -459,7 +457,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
current_status_flags.condition_auto_mission_available = true; current_status_flags.condition_auto_mission_available = true;
// Attempt transition // Attempt transition
transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, main_state_prev, current_status_flags, &current_commander_state); transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags, &current_commander_state);
// Validate result of transition // Validate result of transition
ut_compare(test->assertMsg, test->expected_transition_result, result); ut_compare(test->assertMsg, test->expected_transition_result, result);
src/modules/commander/state_machine_helper.cpp
+2 -4
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@@ -393,7 +393,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
} }
transition_result_t transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, uint8_t &main_state_prev, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state) main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state)
{ {
// IMPORTANT: The assumption of callers of this function is that the execution of // IMPORTANT: The assumption of callers of this function is that the execution of
// this check if essentially "free". Therefore any runtime checking in here has to be // this check if essentially "free". Therefore any runtime checking in here has to be
@@ -505,7 +505,6 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai
if (ret == TRANSITION_CHANGED) { if (ret == TRANSITION_CHANGED) {
if (internal_state->main_state != new_main_state) { if (internal_state->main_state != new_main_state) {
main_state_prev = internal_state->main_state;
internal_state->main_state = new_main_state; internal_state->main_state = new_main_state;
internal_state->timestamp = hrt_absolute_time(); internal_state->timestamp = hrt_absolute_time();
@@ -1042,8 +1041,7 @@ void set_link_loss_nav_state(vehicle_status_s *status,
} else if (link_loss_act == link_loss_actions_t::AUTO_RTL } else if (link_loss_act == link_loss_actions_t::AUTO_RTL
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) { && status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
uint8_t main_state_prev = 0; main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, *status_flags, internal_state);
main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, *status_flags, internal_state);
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) { } else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) {
src/modules/commander/state_machine_helper.h
+1 -1
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@@ -92,7 +92,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
hrt_abstime time_since_boot); hrt_abstime time_since_boot);
transition_result_t transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, uint8_t &main_state_prev, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state); main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state);
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub); transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);