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Commander: State machine helper documentation

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Future contributors need to know about the time constraints that the execution of this function needs to satisfy.
This commit is contained in:
Lorenz Meier
2017-12-02 11:39:52 +00:00
parent 67fa220d61
commit 4abc578932
1 changed files with 5 additions and 0 deletions
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src/modules/commander/state_machine_helper.cpp
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@@ -377,6 +377,11 @@ transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev, main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
status_flags_s *status_flags, struct commander_state_s *internal_state) status_flags_s *status_flags, struct commander_state_s *internal_state)
{ {
// IMPORTANT: The assumption of callers of this function is that the execution of
// this check if essentially "free". Therefore any runtime checking in here has to be
// kept super lightweight. No complex logic or calls on external function should be
// implemented here.
transition_result_t ret = TRANSITION_DENIED; transition_result_t ret = TRANSITION_DENIED;
/* transition may be denied even if the same state is requested because conditions may have changed */ /* transition may be denied even if the same state is requested because conditions may have changed */