From f968a5947db29012a284f4a8fc30b218b3f39681 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 31 Mar 2022 13:10:38 +0200 Subject: [PATCH] ArmStateMachine: port arming_state_names into the class --- .../Arming/ArmStateMachine/ArmStateMachine.hpp | 10 ++++++++++ src/modules/commander/Commander.cpp | 2 +- src/modules/commander/state_machine_helper.cpp | 10 ---------- 3 files changed, 11 insertions(+), 11 deletions(-) diff --git a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp index d6add016f6..55af4363de 100644 --- a/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp +++ b/src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp @@ -59,6 +59,16 @@ public: vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements, const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason); + // You can index into the array with an arming_state_t in order to get its textual representation + const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = { + "INIT", + "STANDBY", + "ARMED", + "STANDBY_ERROR", + "SHUTDOWN", + "IN_AIR_RESTORE", + }; + private: static inline events::px4::enums::arming_state_t eventArmingState(uint8_t arming_state); diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index e486fa0953..d4956c6760 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -465,7 +465,7 @@ int Commander::custom_command(int argc, char *argv[]) int Commander::print_status() { - PX4_INFO("arming: %s", arming_state_names[_status.arming_state]); + PX4_INFO("arming: %s", _arm_state_machine.arming_state_names[_status.arming_state]); PX4_INFO("navigation: %s", nav_state_names[_status.nav_state]); perf_print_counter(_loop_perf); perf_print_counter(_preflight_check_perf); diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 105c018a4f..75fb5b6094 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -61,16 +61,6 @@ static constexpr const char reason_no_datalink[] = "no datalink"; static constexpr const char reason_no_rc_and_no_datalink[] = "no RC and no datalink"; static constexpr const char reason_no_gps[] = "no GPS"; -// You can index into the array with an arming_state_t in order to get its textual representation -const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = { - "INIT", - "STANDBY", - "ARMED", - "STANDBY_ERROR", - "SHUTDOWN", - "IN_AIR_RESTORE", -}; - // You can index into the array with an navigation_state_t in order to get its textual representation const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = { "MANUAL",