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FlightTasks: revised task switching algorithm to catch errors during activation of a new task and make it more readable

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Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent edd5ed1349
commit 582990c0af
1 changed files with 17 additions and 10 deletions
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src/lib/FlightTasks/FlightTasks.hpp
+17 -10
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@@ -107,21 +107,23 @@ public:
*/
int switch_task(int task_number)
{
/* switch to the running task, nothing to do */
if (task_number == _current_task) {
return 0;
}
/* disable the old task if there is any */
if (is_any_task_active()) {
_tasks[_current_task]->disable();
}
_current_task = task_number;
if (is_any_task_active()) {
_tasks[_current_task]->activate();
/* if the new task exists and it activates succesfully we switched */
if (is_task_number_valid(task_number) && !_tasks[task_number]->activate()) {
_current_task = task_number;
return 0;
}
/* something went wrong, no task running anymore */
_current_task = -1;
return 1;
};
@@ -134,16 +136,21 @@ public:
/**
* Check if any task is active
* @return true if a task is active, flase if not
* @return true if a task is active, false if not
*/
bool is_any_task_active() const { return _current_task > -1 && _current_task < _task_count; };
bool is_any_task_active() const { return is_task_number_valid(_current_task); };
/**
* Check if the task number exists
* @return true if yes, false if not
*/
bool is_task_number_valid(int task_number) const { return task_number > -1 && task_number < _task_count; };
private:
int _current_task = -1;
static constexpr int _task_count = 2;
FlightTask *_tasks[_task_count] = {&Manual, &Orbit};
FlightTaskManual Manual;
FlightTaskOrbit Orbit;
static const int _task_count = 2;
FlightTask *_tasks[_task_count] = {&Manual, &Orbit};
int _current_task = -1;
};