mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 01:33:34 +08:00
100 lines
3.1 KiB
Plaintext
100 lines
3.1 KiB
Plaintext
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @@file FlightTasks_generated.cpp
|
|
*
|
|
* Generated file to switch between all required flight tasks
|
|
*
|
|
* @@author Christoph Tobler <christoph@@px4.io>
|
|
*/
|
|
|
|
#include "FlightTasks.hpp"
|
|
#include "FlightTasks_generated.hpp"
|
|
|
|
int FlightTasks::_initTask(FlightTaskIndex task_index)
|
|
{
|
|
|
|
// disable the old task if there is any
|
|
if (_current_task.task) {
|
|
_current_task.task->~FlightTask();
|
|
_current_task.task = nullptr;
|
|
_current_task.index = FlightTaskIndex::None;
|
|
}
|
|
|
|
switch (task_index) {
|
|
case FlightTaskIndex::None:
|
|
// already disabled task
|
|
break;
|
|
|
|
@# loop through all requested tasks
|
|
@[if tasks]@
|
|
@[for task in tasks]@
|
|
@{
|
|
firstLowercase = lambda s: s[:1].lower() + s[1:] if s else ''
|
|
}@
|
|
case FlightTaskIndex::@(task):
|
|
_current_task.task = new (&_task_union.@(firstLowercase(task))) FlightTask@(task)();
|
|
break;
|
|
|
|
@[end for]@
|
|
@[end if]@
|
|
default:
|
|
// invalid task
|
|
return 1;
|
|
}
|
|
|
|
// task construction succeeded
|
|
_current_task.index = task_index;
|
|
return 0;
|
|
}
|
|
|
|
FlightTaskIndex FlightTasks::switchVehicleCommand(const int command)
|
|
{
|
|
switch (command) {
|
|
@# loop through all additional tasks
|
|
@[if tasks_add]@
|
|
@[for task in tasks_add]@
|
|
@{
|
|
upperCase = lambda s: s[:].upper() if s else ''
|
|
}@
|
|
case vehicle_command_s::VEHICLE_CMD_DO_@(upperCase(task)) :
|
|
return FlightTaskIndex::@(task);
|
|
break;
|
|
|
|
@[end for]@
|
|
@[end if]@
|
|
// ignore all unkown commands
|
|
default : return FlightTaskIndex::None;
|
|
}
|
|
} |