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commander use const where possible

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- this helps tease apart the various pieces of commander.
This commit is contained in:
Daniel Agar
2018-03-27 15:16:19 -04:00
parent 0038a5e755
commit c194c1acb5
5 changed files with 179 additions and 182 deletions
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src/modules/commander/Commander.hpp
+28 -7
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@@ -34,6 +34,8 @@
#ifndef COMMANDER_HPP_
#define COMMANDER_HPP_
#include "state_machine_helper.h"
#include <controllib/blocks.hpp>
#include <px4_module.h>
#include <px4_module_params.h>
@@ -90,14 +92,33 @@ private:
// Subscriptions
Subscription<mission_result_s> _mission_result_sub;
bool handle_command(vehicle_status_s *status, const safety_s *safety, vehicle_command_s *cmd,
actuator_armed_s *armed, home_position_s *home, vehicle_global_position_s *global_pos,
vehicle_local_position_s *local_pos, orb_advert_t *home_pub,
orb_advert_t *command_ack_pub, bool *changed);
bool handle_command(vehicle_status_s *status_local, const safety_s &safety_local, const vehicle_command_s &cmd,
actuator_armed_s *armed_local, home_position_s *home, const vehicle_global_position_s &global_pos,
const vehicle_local_position_s &local_pos, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
bool set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition,
bool set_alt_only_to_lpos_ref);
bool set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition,
const vehicle_global_position_s &globalPosition, bool set_alt_only_to_lpos_ref);
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(const vehicle_status_s &status, const vehicle_global_position_s &global_position,
const vehicle_local_position_s &local_position, bool *changed);
// Enable override (manual reversion mode) on the system
transition_result_t set_main_state_override_on(const vehicle_status_s &status_local, bool *changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status_local,
const vehicle_global_position_s &global_position, const vehicle_local_position_s &local_position, bool *changed);
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
bool *validity_changed);
void reset_posvel_validity(const vehicle_global_position_s &global_position,
const vehicle_local_position_s &local_position, bool *changed);
void mission_init();
src/modules/commander/commander.cpp
+135 -156
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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 -2
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@@ -459,8 +459,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
current_status_flags.condition_auto_mission_available = true;
// 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, main_state_prev, current_status_flags, &current_commander_state);
// Validate result of transition
ut_compare(test->assertMsg, test->expected_transition_result, result);
src/modules/commander/state_machine_helper.cpp
+14 -15
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@@ -393,8 +393,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
}
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
vehicle_status_flags_s *status_flags, struct commander_state_s *internal_state)
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)
{
// 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
@@ -415,8 +414,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
if (status_flags->condition_local_altitude_valid ||
status_flags->condition_global_position_valid) {
if (status_flags.condition_local_altitude_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -425,8 +424,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_POSCTL:
/* need at minimum local position estimate */
if (status_flags->condition_local_position_valid ||
status_flags->condition_global_position_valid) {
if (status_flags.condition_local_position_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -435,7 +434,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status_flags->condition_global_position_valid) {
if (status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -444,7 +443,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
/* FOLLOW only implemented in MC */
if (status->is_rotary_wing) {
if (status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -453,8 +452,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */
if (status_flags->condition_global_position_valid &&
status_flags->condition_auto_mission_available) {
if (status_flags.condition_global_position_valid &&
status_flags.condition_auto_mission_available) {
ret = TRANSITION_CHANGED;
}
@@ -464,7 +463,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -474,7 +473,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need local position */
if (status_flags->condition_local_position_valid) {
if (status_flags.condition_local_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -483,7 +482,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags->condition_local_position_valid && status_flags->condition_global_position_valid && status->is_rotary_wing) {
if (status_flags.condition_local_position_valid && status_flags.condition_global_position_valid && status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -492,7 +491,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal */
if (!status_flags->offboard_control_signal_lost) {
if (!status_flags.offboard_control_signal_lost) {
ret = TRANSITION_CHANGED;
}
@@ -1044,7 +1043,7 @@ void set_link_loss_nav_state(vehicle_status_s *status,
&& 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, main_state_prev, 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;
} 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 -2
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@@ -92,8 +92,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
hrt_abstime time_since_boot);
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
vehicle_status_flags_s *status_flags, struct commander_state_s *internal_state);
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);
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);