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Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached.

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This commit is contained in:
mcsauder
2022-09-05 18:17:24 -06:00
committed by Daniel Agar
parent 693af897b3
commit ebc88afe46
8 changed files with 145 additions and 149 deletions
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src/modules/commander/Commander.cpp
+29 -33
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@@ -73,15 +73,15 @@
#include <uORB/topics/tune_control.h>
typedef enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
VEHICLE_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
VEHICLE_MODE_FLAG_ENUM_END = 129, /* | */
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
VEHICLE_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
VEHICLE_MODE_FLAG_ENUM_END = 129, /* | */
} VEHICLE_MODE_FLAG;
// TODO: generate
@@ -487,7 +487,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
return Commander::main(argc, argv);
}
bool Commander::shutdown_if_allowed()
bool Commander::shutdownIfAllowed()
{
return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_vehicle_status,
vehicle_status_s::ARMING_STATE_SHUTDOWN, _actuator_armed, _health_and_arming_checks,
@@ -815,7 +815,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else {
if (cmd.from_external && cmd.source_component == 190) { // MAV_COMP_ID_MISSIONPLANNER
print_reject_mode(desired_nav_state);
printRejectMode(desired_nav_state);
}
main_ret = TRANSITION_DENIED;
@@ -1130,7 +1130,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
break;
case vehicle_command_s::VEHICLE_CMD_ACTUATOR_TEST:
cmd_result = handle_command_actuator_test(cmd);
cmd_result = handleCommandActuatorTest(cmd);
break;
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
@@ -1143,7 +1143,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 1) && shutdown_if_allowed() && (px4_reboot_request(false, 400_ms) == 0)) {
} else if ((param1 == 1) && shutdownIfAllowed() && (px4_reboot_request(false, 400_ms) == 0)) {
// 1: Reboot autopilot
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@@ -1153,7 +1153,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(BOARD_HAS_POWER_CONTROL)
} else if ((param1 == 2) && shutdown_if_allowed() && (px4_shutdown_request(400_ms) == 0)) {
} else if ((param1 == 2) && shutdownIfAllowed() && (px4_shutdown_request(400_ms) == 0)) {
// 2: Shutdown autopilot
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@@ -1163,7 +1163,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 3) && shutdown_if_allowed() && (px4_reboot_request(true, 400_ms) == 0)) {
} else if ((param1 == 3) && shutdownIfAllowed() && (px4_reboot_request(true, 400_ms) == 0)) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@@ -1435,8 +1435,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
return true;
}
unsigned
Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
{
if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
@@ -1562,7 +1561,7 @@ void Commander::executeActionRequest(const action_request_s &action_request)
case action_request_s::ACTION_SWITCH_MODE:
if (!_user_mode_intention.change(action_request.mode, true)) {
print_reject_mode(action_request.mode);
printRejectMode(action_request.mode);
}
break;
@@ -1624,8 +1623,7 @@ void Commander::updateParameters()
}
void
Commander::run()
void Commander::run()
{
/* initialize */
led_init();
@@ -1708,10 +1706,10 @@ Commander::run()
checkForMissionUpdate();
manual_control_check();
manualControlCheck();
// data link checks which update the status
data_link_check();
dataLinkCheck();
/* handle commands last, as the system needs to be updated to handle them */
if (_vehicle_command_sub.updated()) {
@@ -1788,7 +1786,7 @@ Commander::run()
_vehicle_status.pre_flight_checks_pass = _health_and_arming_checks.canArm(_vehicle_status.nav_state);
perf_end(_preflight_check_perf);
check_and_inform_ready_for_takeoff();
checkAndInformReadyForTakeoff();
}
// publish states (armed, control_mode, vehicle_status, vehicle_status_flags, failure_detector_status) at 2 Hz or immediately when changed
@@ -1802,7 +1800,7 @@ Commander::run()
_actuator_armed_pub.publish(_actuator_armed);
// update and publish vehicle_control_mode
update_control_mode();
updateControlMode();
// vehicle_status publish (after prearm/preflight updates above)
_vehicle_status.arming_state = _arm_state_machine.getArmState();
@@ -1941,7 +1939,7 @@ void Commander::handlePowerButtonState()
if (_power_button_state_sub.copy(&button_state)) {
if (button_state.event == power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN) {
if (shutdown_if_allowed() && (px4_shutdown_request() == 0)) {
if (shutdownIfAllowed() && (px4_shutdown_request() == 0)) {
while (1) { px4_usleep(1); }
}
}
@@ -2239,7 +2237,7 @@ bool Commander::handleModeIntentionAndFailsafe()
return prev_nav_state != _vehicle_status.nav_state || prev_failsafe_action != _failsafe.selectedAction();
}
void Commander::check_and_inform_ready_for_takeoff()
void Commander::checkAndInformReadyForTakeoff()
{
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
static bool ready_for_takeoff_printed = false;
@@ -2406,8 +2404,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
}
}
void
Commander::update_control_mode()
void Commander::updateControlMode()
{
_vehicle_control_mode = {};
_offboard_control_mode_sub.update();
@@ -2417,8 +2414,7 @@ Commander::update_control_mode()
_vehicle_control_mode_pub.publish(_vehicle_control_mode);
}
void
Commander::print_reject_mode(uint8_t nav_state)
void Commander::printRejectMode(uint8_t nav_state)
{
if (hrt_elapsed_time(&_last_print_mode_reject_time) > 1_s) {
@@ -2517,7 +2513,7 @@ void Commander::enable_hil()
_vehicle_status.hil_state = vehicle_status_s::HIL_STATE_ON;
}
void Commander::data_link_check()
void Commander::dataLinkCheck()
{
for (auto &telemetry_status : _telemetry_status_subs) {
telemetry_status_s telemetry;
@@ -2706,7 +2702,7 @@ void Commander::battery_status_check()
if (_vehicle_status_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
#if defined(BOARD_HAS_POWER_CONTROL)
if (shutdown_if_allowed() && (px4_shutdown_request(60_s) == 0)) {
if (shutdownIfAllowed() && (px4_shutdown_request(60_s) == 0)) {
mavlink_log_critical(&_mavlink_log_pub, "Dangerously low battery! Shutting system down in 60 seconds\t");
events::send(events::ID("commander_low_bat_shutdown"), {events::Log::Emergency, events::LogInternal::Warning},
"Dangerously low battery! Shutting system down");
@@ -2729,7 +2725,7 @@ void Commander::battery_status_check()
_battery_warning = _vehicle_status_flags.battery_warning;
}
void Commander::manual_control_check()
void Commander::manualControlCheck()
{
manual_control_setpoint_s manual_control_setpoint;
const bool manual_control_updated = _manual_control_setpoint_sub.update(&manual_control_setpoint);