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Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729)

Browse Source 
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
This commit is contained in:
Junwoo Hwang
2022-07-07 16:15:11 +02:00
committed by GitHub
parent af4038aa7e
commit 32ae00fd44
23 changed files with 212 additions and 209 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_capture/camera_capture.cpp
+1 -1
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@@ -270,7 +270,7 @@ CameraCapture::Run()
command_ack.timestamp = hrt_absolute_time();
command_ack.command = cmd.command;
command_ack.result = (uint8_t)vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.result = (uint8_t)vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
src/drivers/camera_trigger/camera_trigger.cpp
+7 -7
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@@ -508,7 +508,7 @@ CameraTrigger::Run()
int poll_interval_usec = 50000;
vehicle_command_s cmd{};
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
unsigned cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
bool need_ack = false;
// this flag is set when the polling loop is slowed down to allow the camera to power on
@@ -530,7 +530,7 @@ CameraTrigger::Run()
if (now - _last_trigger_timestamp < _min_interval * 1000) {
// triggering too fast, abort
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
if (commandParamToInt(cmd.param7) == 1) {
@@ -543,7 +543,7 @@ CameraTrigger::Run()
_one_shot = true;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL) {
@@ -570,7 +570,7 @@ CameraTrigger::Run()
_trigger_enabled = false;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST) {
PX4_DEBUG("received DO_SET_CAM_TRIGG_DIST");
@@ -608,7 +608,7 @@ CameraTrigger::Run()
_one_shot = true;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL) {
PX4_DEBUG("received DO_SET_CAM_TRIGG_INTERVAL");
@@ -627,7 +627,7 @@ CameraTrigger::Run()
}
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_OBLIQUE_SURVEY) {
PX4_INFO("received OBLIQUE_SURVEY");
@@ -676,7 +676,7 @@ CameraTrigger::Run()
_CAMPOS_num_poses = 0;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
goto unknown_cmd;
src/drivers/dshot/DShot.cpp
+2 -2
View File
@@ -624,7 +624,7 @@ void DShot::handle_vehicle_commands()
command_ack.command = vehicle_command.command;
command_ack.target_system = vehicle_command.source_system;
command_ack.target_component = vehicle_command.source_component;
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
if (index != -1) {
PX4_DEBUG("setting command: index: %i type: %i", index, type);
@@ -646,7 +646,7 @@ void DShot::handle_vehicle_commands()
PX4_WARN("unknown command: %i", type);
} else {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
_current_command.motor_mask = 1 << index;
_current_command.num_repetitions = 10;
_current_command.save = true;
src/drivers/px4io/px4io.cpp
+2 -2
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@@ -590,10 +590,10 @@ void PX4IO::Run()
/* publish ACK */
if (dsm_ret == OK) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED);
}
}
}
src/drivers/rc_input/RCInput.cpp
+3 -3
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@@ -334,7 +334,7 @@ void RCInput::Run()
// Check for a pairing command
if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
uint8_t cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
#if defined(SPEKTRUM_POWER)
if (!_rc_scan_locked && !_armed) {
@@ -356,11 +356,11 @@ void RCInput::Run()
bind_spektrum(dsm_bind_pulses);
cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
} else {
cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
#endif // SPEKTRUM_POWER
src/drivers/uavcan/uavcan_main.cpp
+1 -1
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@@ -866,7 +866,7 @@ UavcanNode::Run()
vehicle_command_s cmd{};
_vcmd_sub.copy(&cmd);
uint8_t cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
uint8_t cmd_ack_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE) {
acknowledge = true;