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commander: implement external modes and mode executors

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This commit is contained in:
Beat Küng
2022-11-07 15:57:51 +01:00
parent 58d2badf9f
commit fbbccf6997
32 changed files with 1632 additions and 51 deletions
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src/modules/commander/UserModeIntention.cpp
+15 -3
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@@ -35,14 +35,22 @@
#include "UserModeIntention.hpp"
UserModeIntention::UserModeIntention(ModuleParams *parent, const vehicle_status_s &vehicle_status,
const HealthAndArmingChecks &health_and_arming_checks)
: ModuleParams(parent), _vehicle_status(vehicle_status), _health_and_arming_checks(health_and_arming_checks)
const HealthAndArmingChecks &health_and_arming_checks, ModeChangeHandler *handler)
: ModuleParams(parent), _vehicle_status(vehicle_status), _health_and_arming_checks(health_and_arming_checks),
_handler(handler)
{
}
bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallback, bool force)
bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource source, bool allow_fallback,
bool force)
{
_ever_had_mode_change = true;
_had_mode_change = true;
if (_handler) {
// If a replacement mode is selected, select the internal one instead. The replacement will be selected after.
user_intended_nav_state = _handler->getReplacedModeIfAny(user_intended_nav_state);
}
// Always allow mode change while disarmed
bool always_allow = force || !isArmed();
@@ -68,6 +76,10 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, bool allow_fallb
if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)) {
_nav_state_after_disarming = user_intended_nav_state;
}
if (_handler) {
_handler->onUserIntendedNavStateChange(source, user_intended_nav_state);
}
}
return allow_change;