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FlightTasks: generate tasks depending on target

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- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
This commit is contained in:
ChristophTobler
2018-07-31 17:21:52 +02:00
committed by Dennis Mannhart
parent 34203f7e8c
commit 8090708f76
7 changed files with 280 additions and 138 deletions
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src/lib/FlightTasks/FlightTasks.cpp
+5 -76
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@@ -47,73 +47,6 @@ const vehicle_constraints_s FlightTasks::getConstraints()
}
}
int FlightTasks::_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;
case FlightTaskIndex::Stabilized:
_current_task.task = new (&_task_union.stabilized) FlightTaskManualStabilized();
break;
case FlightTaskIndex::Altitude:
_current_task.task = new (&_task_union.altitude) FlightTaskManualAltitude();
break;
case FlightTaskIndex::AltitudeSmooth:
_current_task.task = new (&_task_union.altitude_smooth) FlightTaskManualAltitudeSmooth();
break;
case FlightTaskIndex::Position:
_current_task.task = new (&_task_union.position) FlightTaskManualPosition();
break;
case FlightTaskIndex::PositionSmooth:
_current_task.task =
new (&_task_union.position_smooth) FlightTaskManualPositionSmooth();
break;
case FlightTaskIndex::Orbit:
_current_task.task = new (&_task_union.orbit) FlightTaskOrbit();
break;
case FlightTaskIndex::Sport:
_current_task.task = new (&_task_union.sport) FlightTaskSport();
break;
case FlightTaskIndex::AutoLine:
_current_task.task = new (&_task_union.autoLine) FlightTaskAutoLine();
break;
case FlightTaskIndex::AutoFollowMe:
_current_task.task =
new (&_task_union.autoFollowMe) FlightTaskAutoFollowMe();
break;
case FlightTaskIndex::Offboard:
_current_task.task = new (&_task_union.offboard) FlightTaskOffboard();
break;
default:
// invalid task
return 1;
}
// task construction succeeded
_current_task.index = task_index;
return 0;
}
int FlightTasks::switchTask(FlightTaskIndex new_task_index)
{
// switch to the running task, nothing to do
@@ -202,15 +135,11 @@ void FlightTasks::_updateCommand()
orb_copy(ORB_ID(vehicle_command), _sub_vehicle_command, &command);
// check what command it is
FlightTaskIndex desired_task = FlightTaskIndex::None;
FlightTaskIndex desired_task = switchVehicleCommand(command.command);
switch (command.command) {
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT :
desired_task = FlightTaskIndex::Orbit;
break;
// ignore all unkown commands
default : return;
if (desired_task == FlightTaskIndex::None) {
// ignore all unkown commands
return;
}
// switch to the commanded task
@@ -227,7 +156,7 @@ void FlightTasks::_updateCommand()
// if we just switched and parameters are not accepted, go to failsafe
if (switch_result == 1) {
switchTask(FlightTaskIndex::Position);
switchTask(FlightTaskIndex::ManualPosition);
cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
}