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stop ignoring Wmissing-field-initializers and fix (#9912)

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This commit is contained in:
Daniel Agar
2018-07-22 12:45:52 -04:00
committed by GitHub
parent fc65939f0e
commit b1d3bb0403
21 changed files with 271 additions and 423 deletions
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src/modules/commander/arm_auth.cpp
+6 -14
View File
@@ -78,23 +78,15 @@ static uint8_t (*arm_check_method[ARM_AUTH_METHOD_LAST])() = {
static void arm_auth_request_msg_send()
{
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = 0,
.param6 = 0,
.param1 = 0,
.param2 = 0,
.param3 = 0,
.param4 = 0,
.param7 = 0,
.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST,
.target_system = arm_parameters.authorizer_system_id
};
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
vcmd.target_system = arm_parameters.authorizer_system_id;
if (handle_vehicle_command_pub == nullptr) {
handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &cmd);
orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &vcmd);
}
}
src/modules/commander/commander.cpp
+53 -100
View File
@@ -263,6 +263,26 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
return ret;
}
static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN)
{
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = param1;
vcmd.param2 = param2;
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
vcmd.target_system = status.system_id;
vcmd.target_component = status.component_id;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
return (h != nullptr);
}
int commander_main(int argc, char *argv[])
{
if (argc < 2) {
@@ -273,7 +293,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
PX4_INFO("already running");
/* this is not an error */
return 0;
}
@@ -299,7 +319,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
warnx("commander already stopped");
PX4_WARN("already stopped");
return 0;
}
@@ -307,14 +327,14 @@ int commander_main(int argc, char *argv[])
Commander::main(argc, argv);
warnx("terminated.");
PX4_INFO("terminated.");
return 0;
}
/* commands needing the app to run below */
if (!thread_running) {
warnx("\tcommander not started");
PX4_ERR("not started");
return 1;
}
@@ -339,17 +359,17 @@ int commander_main(int argc, char *argv[])
} else if (!strcmp(argv[2], "airspeed")) {
calib_ret = do_airspeed_calibration(&mavlink_log_pub);
} else {
warnx("argument %s unsupported.", argv[2]);
PX4_ERR("argument %s unsupported.", argv[2]);
}
if (calib_ret) {
warnx("calibration failed, exiting.");
PX4_ERR("calibration failed, exiting.");
return 1;
} else {
return 0;
}
} else {
warnx("missing argument");
PX4_ERR("missing argument");
}
}
@@ -365,98 +385,51 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "arm")) {
if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "command line")) {
warnx("arming failed");
PX4_ERR("arming failed");
}
return 0;
}
if (!strcmp(argv[1], "disarm")) {
if (TRANSITION_DENIED == arm_disarm(false, &mavlink_log_pub, "command line")) {
warnx("rejected disarm");
PX4_ERR("rejected disarm");
}
return 0;
}
if (!strcmp(argv[1], "takeoff")) {
bool ret = false;
/* see if we got a home position */
if (status_flags.condition_local_position_valid) {
if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
struct vehicle_command_s cmd = {
.timestamp = hrt_absolute_time(),
.param5 = (double)NAN,
.param6 = (double)NAN,
/* minimum pitch */
.param1 = NAN,
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF,
.target_system = status.system_id,
.target_component = status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
} else {
warnx("arming failed");
PX4_ERR("arming failed");
}
} else {
warnx("rejecting takeoff, no position lock yet. Please retry..");
PX4_ERR("rejecting takeoff, no position lock yet. Please retry..");
}
return 0;
return (ret ? 0 : 1);
}
if (!strcmp(argv[1], "land")) {
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_LAND);
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = (double)NAN,
.param6 = (double)NAN,
/* minimum pitch */
.param1 = NAN,
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND,
.target_system = status.system_id,
.target_component = status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
return (ret ? 0 : 1);
}
if (!strcmp(argv[1], "transition")) {
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = (double)NAN,
.param6 = (double)NAN,
/* transition to the other mode */
.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
.target_system = status.system_id,
.target_component = status.component_id
};
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
(float)(status.is_rotary_wing ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC));
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
return (ret ? 0 : 1);
}
if (!strcmp(argv[1], "mode")) {
@@ -489,16 +462,16 @@ int commander_main(int argc, char *argv[])
} else if (!strcmp(argv[2], "auto:precland")) {
new_main_state = commander_state_s::MAIN_STATE_AUTO_PRECLAND;
} else {
warnx("argument %s unsupported.", argv[2]);
PX4_ERR("argument %s unsupported.", argv[2]);
}
if (TRANSITION_DENIED == main_state_transition(status, new_main_state, status_flags, &internal_state)) {
warnx("mode change failed");
PX4_ERR("mode change failed");
}
return 0;
} else {
warnx("missing argument");
PX4_ERR("missing argument");
}
}
@@ -509,25 +482,10 @@ int commander_main(int argc, char *argv[])
return 1;
}
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = 0.0,
.param6 = 0.0,
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
.target_system = status.system_id,
.target_component = status.component_id
};
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
strcmp(argv[2], "off") ? 2.0f : 0.0f /* lockdown */, 0.0f);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
return (ret ? 0 : 1);
}
usage("unrecognized command");
@@ -3700,23 +3658,18 @@ void answer_command(const vehicle_command_s &cmd, unsigned result, orb_advert_t
}
/* publish ACK */
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.result_param2 = 0,
.command = cmd.command,
.result = (uint8_t)result,
.from_external = false,
.result_param1 = 0,
.target_system = cmd.source_system,
.target_component = cmd.source_component
};
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = cmd.command;
command_ack.result = (uint8_t)result;
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
if (command_ack_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
} else {
command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
}
}