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navigator: Change IF statement to SWITCH statement (#23534)

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murata,katsutoshi 2024-08-14 16:40:36 +09:00 committed by GitHub
parent f3a8d05f8c
commit dec550dcb9
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1 changed files with 44 additions and 18 deletions
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62
src/modules/navigator/geofence.cpp
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@ -406,17 +406,25 @@ bool Geofence::checkPointAgainstPolygonCircle(const PolygonInfo &polygon, double
{
bool checksPass = true;
if (polygon.fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
switch (polygon.fence_type) {
case NAV_CMD_FENCE_CIRCLE_INCLUSION:
checksPass &= insideCircle(polygon, lat, lon, altitude);
break;
} else if (polygon.fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
case NAV_CMD_FENCE_CIRCLE_EXCLUSION:
checksPass &= !insideCircle(polygon, lat, lon, altitude);
break;
} else if (polygon.fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION:
checksPass &= insidePolygon(polygon, lat, lon, altitude);
break;
} else if (polygon.fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION:
checksPass &= !insidePolygon(polygon, lat, lon, altitude);
break;
default: // unknown fence type
break;
}
return checksPass;
@ -452,12 +460,18 @@ bool Geofence::insidePolygon(const PolygonInfo &polygon, double lat, double lon,
break;
}
if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != NAV_FRAME_GLOBAL_INT
&& temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
&& temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
switch (temp_vertex_i.frame) {
case NAV_FRAME_GLOBAL:
case NAV_FRAME_GLOBAL_INT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
break;
default:
// TODO: handle different frames
PX4_ERR("Frame type %i not supported", (int)temp_vertex_i.frame);
break;
return c;
}
if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
@ -482,12 +496,18 @@ bool Geofence::insideCircle(const PolygonInfo &polygon, double lat, double lon,
return false;
}
if (circle_point.frame != NAV_FRAME_GLOBAL && circle_point.frame != NAV_FRAME_GLOBAL_INT
&& circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
&& circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
switch (circle_point.frame) {
case NAV_FRAME_GLOBAL:
case NAV_FRAME_GLOBAL_INT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
break;
default:
// TODO: handle different frames
PX4_ERR("Frame type %i not supported", (int)circle_point.frame);
return false;
}
if (!_projection_reference.isInitialized()) {
@ -675,20 +695,26 @@ void Geofence::printStatus()
for (int i = 0; i < _num_polygons; ++i) {
total_num_vertices += _polygons[i].vertex_count;
if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
switch (_polygons[i].fence_type) {
case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION:
++num_inclusion_polygons;
}
break;
if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION:
++num_exclusion_polygons;
}
break;
if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
case NAV_CMD_FENCE_CIRCLE_INCLUSION:
++num_inclusion_circles;
}
break;
if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
case NAV_CMD_FENCE_CIRCLE_EXCLUSION:
++num_exclusion_circles;
break;
default: // unknown fence type
break;
}
}