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

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- 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
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src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -2339,7 +2339,7 @@ Mavlink::task_main(int argc, char *argv[])
// send positive command ack
vehicle_command_ack_s command_ack{};
command_ack.command = vehicle_cmd.command;
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.from_external = !vehicle_cmd.from_external;
command_ack.target_system = vehicle_cmd.source_system;
command_ack.target_component = vehicle_cmd.source_component;
@@ -2386,7 +2386,7 @@ Mavlink::task_main(int argc, char *argv[])
cmd_logging_start_acknowledgement = true;
} else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP
&& command_ack.result == vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
&& command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
cmd_logging_stop_acknowledgement = true;
}
}
src/modules/mavlink/mavlink_receiver.cpp
+13 -12
View File
@@ -394,7 +394,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
// This looks suspicously like INT32_MAX was sent in a COMMAND_LONG instead of
// a COMMAND_INT.
PX4_ERR("param5/param6 invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return;
}
@@ -430,7 +430,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
if (cmd_mavlink.x == 0x7ff80000 && cmd_mavlink.y == 0x7ff80000) {
// This looks like NAN was by accident sent as int.
PX4_ERR("x/y invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return;
}
@@ -468,14 +468,14 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
{
bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component);
bool send_ack = true;
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
uint8_t progress = 0; // TODO: should be 255, 0 for backwards compatibility
if (!target_ok) {
// Reject alien commands only if there is no forwarding or we've never seen target component before
if (!_mavlink->get_forwarding_on()
|| !_mavlink->component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED);
}
return;
@@ -500,7 +500,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
@@ -541,7 +541,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
send_ack = false;
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
send_ack = true;
}
@@ -627,7 +627,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
if (has_module) {
// most are in progress
result = vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS;
switch (status.state) {
case autotune_attitude_control_status_s::STATE_IDLE:
@@ -669,17 +669,17 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
case autotune_attitude_control_status_s::STATE_COMPLETE:
progress = 100;
// ack it properly with an ACCEPTED once we're done
result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
break;
case autotune_attitude_control_status_s::STATE_FAIL:
progress = 0;
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
break;
}
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
send_ack = true;
@@ -698,7 +698,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
// on a radio link
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming\t");
events::send<uint32_t>(events::ID("mavlink_log_not_enough_bw"), events::Log::Error,
"Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink->get_data_rate());
@@ -753,7 +753,8 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
}
}
return (message_sent ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
return (message_sent ? vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
}