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mission: renaming dataman_id to mission_dataman_id

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This commit is contained in:
Konrad
2024-01-30 11:25:37 -05:00
committed by Daniel Agar
parent cac858cb24
commit dfa56d474a
12 changed files with 71 additions and 61 deletions
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src/modules/navigator/mission_base.cpp
+23 -19
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@@ -96,7 +96,7 @@ MissionBase::updateDatamanCache()
for (int32_t index = start_index; index != end_index; index += math::signNoZero(_dataman_cache_size_signed)) {
_dataman_cache.load(static_cast<dm_item_t>(_mission.dataman_id), index);
_dataman_cache.load(static_cast<dm_item_t>(_mission.mission_dataman_id), index);
}
_load_mission_index = _mission.current_seq;
@@ -274,8 +274,8 @@ MissionBase::on_active()
if (num_found_items == 1U && !PX4_ISFINITE(_mission_item.yaw)) {
mission_item_s next_position_mission_item;
const dm_item_t dataman_id = static_cast<dm_item_t>(_mission.dataman_id);
bool success = _dataman_cache.loadWait(dataman_id, next_mission_item_index,
const dm_item_t mission_dataman_id = static_cast<dm_item_t>(_mission.mission_dataman_id);
bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_item_index,
reinterpret_cast<uint8_t *>(&next_position_mission_item), sizeof(next_position_mission_item), MAX_DATAMAN_LOAD_WAIT);
if (success) {
@@ -460,7 +460,7 @@ MissionBase::set_mission_items()
void MissionBase::loadCurrentMissionItem()
{
const dm_item_t dm_item = static_cast<dm_item_t>(_mission.dataman_id);
const dm_item_t dm_item = static_cast<dm_item_t>(_mission.mission_dataman_id);
bool success = _dataman_cache.loadWait(dm_item, _mission.current_seq, reinterpret_cast<uint8_t *>(&_mission_item),
sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT);
@@ -880,7 +880,8 @@ bool MissionBase::isMissionValid(mission_s &mission) const
bool ret_val{false};
if (((mission.current_seq < mission.count) || (mission.count == 0U && mission.current_seq <= 0)) &&
(mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) &&
(mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0
|| mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) &&
(mission.timestamp != 0u)) {
ret_val = true;
@@ -896,13 +897,13 @@ int MissionBase::getNonJumpItem(int32_t &mission_index, mission_item_s &mission,
return PX4_ERROR;
}
const dm_item_t dataman_id = (dm_item_t)_mission.dataman_id;
const dm_item_t mission_dataman_id = (dm_item_t)_mission.mission_dataman_id;
int32_t new_mission_index{mission_index};
mission_item_s new_mission;
for (uint16_t jump_count = 0u; jump_count < MAX_JUMP_ITERATION; jump_count++) {
/* read mission item from datamanager */
bool success = _dataman_cache.loadWait(dataman_id, new_mission_index, reinterpret_cast<uint8_t *>(&new_mission),
bool success = _dataman_cache.loadWait(mission_dataman_id, new_mission_index, reinterpret_cast<uint8_t *>(&new_mission),
sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT);
if (!success) {
@@ -922,7 +923,7 @@ int MissionBase::getNonJumpItem(int32_t &mission_index, mission_item_s &mission,
if ((new_mission.do_jump_current_count < new_mission.do_jump_repeat_count) && execute_jump) {
if (write_jumps) {
new_mission.do_jump_current_count++;
success = _dataman_cache.writeWait(dataman_id, new_mission_index, reinterpret_cast<uint8_t *>(&new_mission),
success = _dataman_cache.writeWait(mission_dataman_id, new_mission_index, reinterpret_cast<uint8_t *>(&new_mission),
sizeof(struct mission_item_s));
if (!success) {
@@ -1095,12 +1096,12 @@ int MissionBase::setMissionToClosestItem(double lat, double lon, float alt, floa
{
int32_t min_dist_index(-1);
float min_dist(FLT_MAX), dist_xy(FLT_MAX), dist_z(FLT_MAX);
const dm_item_t dataman_id = static_cast<dm_item_t>(_mission.dataman_id);
const dm_item_t mission_dataman_id = static_cast<dm_item_t>(_mission.mission_dataman_id);
for (int32_t mission_item_index = 0; mission_item_index < _mission.count; mission_item_index++) {
mission_item_s mission;
bool success = _dataman_cache.loadWait(dataman_id, mission_item_index, reinterpret_cast<uint8_t *>(&mission),
bool success = _dataman_cache.loadWait(mission_dataman_id, mission_item_index, reinterpret_cast<uint8_t *>(&mission),
sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT);
if (!success) {
@@ -1151,8 +1152,9 @@ void MissionBase::resetMission()
new_mission.land_index = -1;
new_mission.count = 0u;
new_mission.mission_id = 0u;
new_mission.dataman_id = _mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 :
DM_KEY_WAYPOINTS_OFFBOARD_0;
new_mission.mission_dataman_id = _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ?
DM_KEY_WAYPOINTS_OFFBOARD_1 :
DM_KEY_WAYPOINTS_OFFBOARD_0;
bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&new_mission),
sizeof(mission_s));
@@ -1168,12 +1170,12 @@ void MissionBase::resetMission()
void MissionBase::resetMissionJumpCounter()
{
const dm_item_t dataman_id = static_cast<dm_item_t>(_mission.dataman_id);
const dm_item_t mission_dataman_id = static_cast<dm_item_t>(_mission.mission_dataman_id);
for (size_t mission_index = 0u; mission_index < _mission.count; mission_index++) {
mission_item_s mission_item;
bool success = _dataman_client.readSync(dataman_id, mission_index, reinterpret_cast<uint8_t *>(&mission_item),
bool success = _dataman_client.readSync(mission_dataman_id, mission_index, reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT);
if (!success) {
@@ -1187,7 +1189,8 @@ void MissionBase::resetMissionJumpCounter()
if (mission_item.nav_cmd == NAV_CMD_DO_JUMP) {
mission_item.do_jump_current_count = 0u;
bool write_success = _dataman_cache.writeWait(dataman_id, mission_index, reinterpret_cast<uint8_t *>(&mission_item),
bool write_success = _dataman_cache.writeWait(mission_dataman_id, mission_index,
reinterpret_cast<uint8_t *>(&mission_item),
sizeof(struct mission_item_s));
if (!write_success) {
@@ -1296,7 +1299,7 @@ void MissionBase::updateCachedItemsUpToIndex(const int end_index)
{
for (int i = 0; i <= end_index; i++) {
mission_item_s mission_item;
const dm_item_t dm_current = (dm_item_t)_mission.dataman_id;
const dm_item_t dm_current = (dm_item_t)_mission.mission_dataman_id;
bool success = _dataman_client.readSync(dm_current, i, reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item), 500_ms);
@@ -1326,11 +1329,12 @@ void MissionBase::checkClimbRequired(int32_t mission_item_index)
if (num_found_items > 0U) {
const dm_item_t dataman_id = static_cast<dm_item_t>(_mission.dataman_id);
const dm_item_t mission_dataman_id = static_cast<dm_item_t>(_mission.mission_dataman_id);
mission_item_s mission;
_mission_init_climb_altitude_amsl = NAN; // default to NAN, overwrite below if applicable
const bool success = _dataman_cache.loadWait(dataman_id, next_mission_item_index, reinterpret_cast<uint8_t *>(&mission),
const bool success = _dataman_cache.loadWait(mission_dataman_id, next_mission_item_index,
reinterpret_cast<uint8_t *>(&mission),
sizeof(mission), MAX_DATAMAN_LOAD_WAIT);
const bool is_fw_and_takeoff = mission.nav_cmd == NAV_CMD_TAKEOFF
@@ -1353,7 +1357,7 @@ void MissionBase::checkClimbRequired(int32_t mission_item_index)
bool MissionBase::checkMissionDataChanged(mission_s new_mission)
{
/* count and land_index are the same if the mission_id did not change. We do not care about changes in geofence or rally counters.*/
return ((new_mission.dataman_id != _mission.dataman_id) ||
return ((new_mission.mission_dataman_id != _mission.mission_dataman_id) ||
(new_mission.mission_id != _mission.mission_id) ||
(new_mission.current_seq != _mission.current_seq));
}