flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/Templates/FlightTasks_generated.cpp.em

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @@file FlightTasks_generated.cpp
+ *
+ * Generated file to switch between all required flight tasks
+ *
+ * @@author Christoph Tobler <christoph@@px4.io>
+ */
+
+#include "FlightModeManager.hpp"
+#include "FlightTasks_generated.hpp"
+
+int FlightModeManager::_initTask(FlightTaskIndex task_index)
+{
+
+	// disable the old task if there is any
+	if (_current_task.task) {
+		_current_task.task->~FlightTask();
+		_current_task.task = nullptr;
+		_current_task.index = FlightTaskIndex::None;
+	}
+
+	switch (task_index) {
+	case FlightTaskIndex::None:
+		// already disabled task
+		break;
+
+@# loop through all requested tasks
+@[if tasks]@
+@[for task in tasks]@
+@{
+firstLowercase = lambda s: s[:1].lower() + s[1:] if s else ''
+}@
+	case FlightTaskIndex::@(task):
+		_current_task.task = new (&_task_union.@(firstLowercase(task))) FlightTask@(task)();
+		break;
+
+@[end for]@
+@[end if]@
+	default:
+		// invalid task
+		return 1;
+	}
+
+	// task construction succeeded
+	_current_task.index = task_index;
+	return 0;
+}
+
+FlightTaskIndex FlightModeManager::switchVehicleCommand(const int command)
+{
+    switch (command) {
+@# loop through all additional tasks
+@[if tasks_add]@
+@[for task in tasks_add]@
+@{
+upperCase = lambda s: s[:].upper() if s else ''
+}@
+	case vehicle_command_s::VEHICLE_CMD_DO_@(upperCase(task)) :
+		return FlightTaskIndex::@(task);
+		break;
+
+@[end for]@
+@[end if]@
+	// ignore all unkown commands
+	default : return FlightTaskIndex::None;
+	}
+}

src/modules/flight_mode_manager/Templates/FlightTasks_generated.hpp.em

@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @@file FlightTasks_generated.hpp
+ *
+ * Generated Header to list all required flight tasks
+ *
+ * @@author Christoph Tobler <christoph@@px4.io>
+ */
+
+ #pragma once
+
+// include all required headers
+#include "FlightModeManager.hpp"
+@# loop through all requested tasks
+@[if tasks]@
+@[for task in tasks]@
+#include "FlightTask@(task).hpp"
+@[end for]@
+@[end if]@
+
+enum class FlightTaskIndex : int {
+    None = -1,
+@# loop through all requested tasks
+@[if tasks]@
+@[for task in tasks]@
+    @(task),
+@[end for]@
+@[end if]@
+
+    Count // number of tasks
+};
+
+union TaskUnion {
+    TaskUnion() {}
+    ~TaskUnion() {}
+
+@# loop through all requested tasks
+@[if tasks]@
+@{
+firstLowercase = lambda s: s[:1].lower() + s[1:] if s else ''
+}@
+@[for task in tasks]@
+    FlightTask@(task) @(firstLowercase(task));
+@[end for]@
+@[end if]@
+};