From f59b7c73993f6ed28f2312e713ae489f3fac4d78 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 27 Mar 2018 15:53:56 -0400
Subject: [PATCH] commander is_safe() use const references

---
 src/modules/commander/commander.cpp                    |  2 +-
 .../commander_tests/state_machine_helper_test.cpp      | 10 +++++-----
 src/modules/commander/state_machine_helper.cpp         |  6 +++---
 src/modules/commander/state_machine_helper.h           |  2 +-
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c4f605ec79..0719905447 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -3979,7 +3979,7 @@ void *commander_low_prio_loop(void *arg)
 			switch (cmd.command) {
 
 			case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
-				if (is_safe(&safety, &armed)) {
+				if (is_safe(safety, armed)) {
 
 					if (((int)(cmd.param1)) == 1) {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index ebe45d81ab..d65703228d 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -482,31 +482,31 @@ bool StateMachineHelperTest::isSafeTest()
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	ut_compare("is safe: not armed", is_safe(&safety, &armed), true);
+	ut_compare("is safe: not armed", is_safe(safety, armed), true);
 
 	armed.armed = false;
 	armed.lockdown = true;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	ut_compare("is safe: software lockdown", is_safe(&safety, &armed), true);
+	ut_compare("is safe: software lockdown", is_safe(safety, armed), true);
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	ut_compare("not safe: safety off", is_safe(&safety, &armed), false);
+	ut_compare("not safe: safety off", is_safe(safety, armed), false);
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	ut_compare("is safe: safety off", is_safe(&safety, &armed), true);
+	ut_compare("is safe: safety off", is_safe(safety, armed), true);
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = false;
 	safety.safety_off = false;
-	ut_compare("not safe: no safety switch", is_safe(&safety, &armed), false);
+	ut_compare("not safe: no safety switch", is_safe(safety, armed), false);
 
 	return true;
 }
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 1bdcecc096..4b4686cf14 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -379,15 +379,15 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
 	return ret;
 }
 
-bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed)
+bool is_safe(const safety_s& safety, const actuator_armed_s& armed)
 {
 	// System is safe if:
 	// 1) Not armed
 	// 2) Armed, but in software lockdown (HIL)
 	// 3) Safety switch is present AND engaged -> actuators locked
-	const bool lockdown = (armed->lockdown || armed->manual_lockdown);
+	const bool lockdown = (armed.lockdown || armed.manual_lockdown);
 
-	return !armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off);
+	return !armed.armed || (armed.armed && lockdown) || (safety.safety_switch_available && !safety.safety_off);
 }
 
 transition_result_t
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index a63b8570ac..cc29012838 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -77,7 +77,7 @@ typedef enum {
 
 extern const char *const arming_state_names[];
 
-bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);
+bool is_safe(const safety_s& safety, const actuator_armed_s& armed);
 
 transition_result_t arming_state_transition(struct vehicle_status_s *status,
 					    struct battery_status_s *battery,