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commander: minor refactoring current_status -> status

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This commit is contained in:
Anton Babushkin 2014-01-27 13:18:54 +01:00
parent ad51e0a08a
commit 20108ed95d
1 changed files with 29 additions and 29 deletions
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58
src/modules/commander/commander.cpp
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@ -199,9 +199,9 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
transition_result_t check_main_state_machine(struct vehicle_status_s *current_status);
transition_result_t set_main_state_rc(struct vehicle_status_s *status);
void print_reject_mode(const char *msg);
@ -1140,11 +1140,11 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
}
/* fill current_status according to mode switches */
/* fill status according to mode switches */
check_mode_switches(&sp_man, &status);
/* evaluate the main state machine according to mode switches */
res = check_main_state_machine(&status);
res = set_main_state_rc(&status);
if (res == TRANSITION_CHANGED) {
tune_positive();
@ -1418,72 +1418,72 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
}
void
check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status)
check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status)
{
/* main mode switch */
if (!isfinite(sp_man->mode_switch)) {
warnx("mode sw not finite");
current_status->mode_switch = MODE_SWITCH_MANUAL;
status->mode_switch = MODE_SWITCH_MANUAL;
} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
current_status->mode_switch = MODE_SWITCH_AUTO;
status->mode_switch = MODE_SWITCH_AUTO;
} else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) {
current_status->mode_switch = MODE_SWITCH_MANUAL;
status->mode_switch = MODE_SWITCH_MANUAL;
} else {
current_status->mode_switch = MODE_SWITCH_ASSISTED;
status->mode_switch = MODE_SWITCH_ASSISTED;
}
/* return switch */
if (!isfinite(sp_man->return_switch)) {
current_status->return_switch = RETURN_SWITCH_NONE;
status->return_switch = RETURN_SWITCH_NONE;
} else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) {
current_status->return_switch = RETURN_SWITCH_RETURN;
status->return_switch = RETURN_SWITCH_RETURN;
} else {
current_status->return_switch = RETURN_SWITCH_NORMAL;
status->return_switch = RETURN_SWITCH_NORMAL;
}
/* assisted switch */
if (!isfinite(sp_man->assisted_switch)) {
current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
} else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) {
current_status->assisted_switch = ASSISTED_SWITCH_EASY;
status->assisted_switch = ASSISTED_SWITCH_EASY;
} else {
current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
}
/* mission switch */
if (!isfinite(sp_man->mission_switch)) {
current_status->mission_switch = MISSION_SWITCH_NONE;
status->mission_switch = MISSION_SWITCH_NONE;
} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
current_status->mission_switch = MISSION_SWITCH_LOITER;
status->mission_switch = MISSION_SWITCH_LOITER;
} else {
current_status->mission_switch = MISSION_SWITCH_MISSION;
status->mission_switch = MISSION_SWITCH_MISSION;
}
}
transition_result_t
check_main_state_machine(struct vehicle_status_s *current_status)
set_main_state_rc(struct vehicle_status_s *status)
{
/* evaluate the main state machine */
transition_result_t res = TRANSITION_DENIED;
switch (current_status->mode_switch) {
switch (status->mode_switch) {
case MODE_SWITCH_MANUAL:
res = main_state_transition(current_status, MAIN_STATE_MANUAL);
res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
case MODE_SWITCH_ASSISTED:
if (current_status->assisted_switch == ASSISTED_SWITCH_EASY) {
res = main_state_transition(current_status, MAIN_STATE_EASY);
if (status->assisted_switch == ASSISTED_SWITCH_EASY) {
res = main_state_transition(status, MAIN_STATE_EASY);
if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state
@ -1492,34 +1492,34 @@ check_main_state_machine(struct vehicle_status_s *current_status)
print_reject_mode("EASY");
}
res = main_state_transition(current_status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED)
break; // changed successfully or already in this mode
if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages
if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages
print_reject_mode("SEATBELT");
// else fallback to MANUAL
res = main_state_transition(current_status, MAIN_STATE_MANUAL);
res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
case MODE_SWITCH_AUTO:
res = main_state_transition(current_status, MAIN_STATE_AUTO);
res = main_state_transition(status, MAIN_STATE_AUTO);
if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state
// else fallback to SEATBELT (EASY likely will not work too)
print_reject_mode("AUTO");
res = main_state_transition(current_status, MAIN_STATE_SEATBELT);
res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state
// else fallback to MANUAL
res = main_state_transition(current_status, MAIN_STATE_MANUAL);
res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;