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refactor commander: remove unused argument is_armed in Report class

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This commit is contained in:
Beat Küng
2024-11-21 14:16:22 +01:00
committed by Matthias Grob
parent be300b767d
commit 8ccd43dc1b
4 changed files with 15 additions and 15 deletions
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src/modules/commander/HealthAndArmingChecks/Common.cpp
+3 -3
View File
@@ -219,7 +219,7 @@ bool Report::finalize()
return _results_changed; return _results_changed;
} }
bool Report::report(bool is_armed, bool force) bool Report::report(bool force)
{ {
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
const bool has_difference = _had_unreported_difference || _results_changed; const bool has_difference = _had_unreported_difference || _results_changed;
@@ -318,10 +318,10 @@ bool Report::report(bool is_armed, bool force)
return true; return true;
} }
bool Report::reportIfUnreportedDifferences(bool is_armed) bool Report::reportIfUnreportedDifferences()
{ {
if (_had_unreported_difference) { if (_had_unreported_difference) {
return report(is_armed, true); return report(true);
} }
return false; return false;
src/modules/commander/HealthAndArmingChecks/Common.hpp
+2 -2
View File
@@ -337,12 +337,12 @@ private:
*/ */
bool finalize(); bool finalize();
bool report(bool is_armed, bool force); bool report(bool force);
/** /**
* Send out any unreported changes if there are any * Send out any unreported changes if there are any
*/ */
bool reportIfUnreportedDifferences(bool is_armed); bool reportIfUnreportedDifferences();
const hrt_abstime _min_reporting_interval; const hrt_abstime _min_reporting_interval;
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
+3 -3
View File
@@ -67,7 +67,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
} }
const bool results_changed = _reporter.finalize(); const bool results_changed = _reporter.finalize();
const bool reported = _reporter.report(_context.isArmed(), force_reporting); const bool reported = _reporter.report(force_reporting);
if (reported) { if (reported) {
@@ -89,7 +89,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
} }
_reporter.finalize(); _reporter.finalize();
_reporter.report(_context.isArmed(), false); _reporter.report(false);
_reporter._mavlink_log_pub = nullptr; _reporter._mavlink_log_pub = nullptr;
// LEGACY end // LEGACY end
@@ -123,5 +123,5 @@ void HealthAndArmingChecks::updateParams()
bool HealthAndArmingChecks::reportIfUnreportedDifferences() bool HealthAndArmingChecks::reportIfUnreportedDifferences()
{ {
return _reporter.reportIfUnreportedDifferences(_context.isArmed()); return _reporter.reportIfUnreportedDifferences();
} }
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp
+7 -7
View File
@@ -69,7 +69,7 @@ TEST_F(ReporterTest, basic_no_checks)
reporter.reset(); reporter.reset();
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)); ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, 0xff); ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, 0xff);
@@ -92,7 +92,7 @@ TEST_F(ReporterTest, basic_fail_all_modes)
reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control, reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
events::ID("arming_test_basic_fail_all_modes_fail1"), events::Log::Info, ""); events::ID("arming_test_basic_fail_all_modes_fail1"), events::Log::Info, "");
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_FALSE(reporter.canArm(nav_state)); ASSERT_FALSE(reporter.canArm(nav_state));
ASSERT_TRUE(reporter.canRun(nav_state)); ASSERT_TRUE(reporter.canRun(nav_state));
@@ -113,7 +113,7 @@ TEST_F(ReporterTest, arming_checks_mode_category)
events::ID("arming_test_arming_checks_mode_category_fail2"), events::Log::Info, ""); events::ID("arming_test_arming_checks_mode_category_fail2"), events::Log::Info, "");
reporter.setIsPresent(health_component_t::battery); reporter.setIsPresent(health_component_t::battery);
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)); ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
ASSERT_TRUE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)); ASSERT_TRUE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
@@ -138,7 +138,7 @@ TEST_F(ReporterTest, arming_checks_mode_category2)
reporter.healthFailure(NavModes::Mission, health_component_t::remote_control, reporter.healthFailure(NavModes::Mission, health_component_t::remote_control,
events::ID("arming_test_arming_checks_mode_category2_fail1"), events::Log::Warning, ""); events::ID("arming_test_arming_checks_mode_category2_fail1"), events::Log::Warning, "");
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)); ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
@@ -178,7 +178,7 @@ TEST_F(ReporterTest, reporting)
} }
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL)); ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
if (i == 0) { if (i == 0) {
@@ -219,7 +219,7 @@ TEST_F(ReporterTest, reporting)
} }
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL)); ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
if (i == 0) { if (i == 0) {
@@ -265,7 +265,7 @@ TEST_F(ReporterTest, reporting_multiple)
reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::remote_control, reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::remote_control,
events::ID("arming_test_reporting_multiple_fail3"), events::Log::Warning, "", 55); events::ID("arming_test_reporting_multiple_fail3"), events::Log::Warning, "", 55);
reporter.finalize(); reporter.finalize();
reporter.report(false, false); reporter.report(false);
ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL)); ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
if (i == 0) { if (i == 0) {