From 499dd5ea5b8635e723a3632e61ffb6fe1634b689 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 21 Sep 2023 15:58:41 +0200
Subject: [PATCH] Rover: make smartrtk substate enum class

---
 Rover/mode.h             | 12 ++++++------
 Rover/mode_smart_rtl.cpp | 26 +++++++++++++-------------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/Rover/mode.h b/Rover/mode.h
index 342e4704ed..c8f13fe292 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -719,7 +719,7 @@ public:
 
     // return distance (in meters) to destination
     float get_distance_to_destination() const override { return _distance_to_destination; }
-    bool reached_destination() const override { return smart_rtl_state == SmartRTL_StopAtHome; }
+    bool reached_destination() const override { return smart_rtl_state == SmartRTLState::StopAtHome; }
 
     // set desired speed in m/s
     bool set_desired_speed(float speed) override;
@@ -730,11 +730,11 @@ public:
 protected:
 
     // Safe RTL states
-    enum SmartRTLState {
-        SmartRTL_WaitForPathCleanup,
-        SmartRTL_PathFollow,
-        SmartRTL_StopAtHome,
-        SmartRTL_Failure
+    enum class SmartRTLState: uint8_t {
+        WaitForPathCleanup,
+        PathFollow,
+        StopAtHome,
+        Failure
     } smart_rtl_state;
 
     bool _enter() override;
diff --git a/Rover/mode_smart_rtl.cpp b/Rover/mode_smart_rtl.cpp
index 0d083965e4..0080d3569f 100644
--- a/Rover/mode_smart_rtl.cpp
+++ b/Rover/mode_smart_rtl.cpp
@@ -22,7 +22,7 @@ bool ModeSmartRTL::_enter()
     }
 
     // init state
-    smart_rtl_state = SmartRTL_WaitForPathCleanup;
+    smart_rtl_state = SmartRTLState::WaitForPathCleanup;
     _loitering = false;
 
     return true;
@@ -31,24 +31,24 @@ bool ModeSmartRTL::_enter()
 void ModeSmartRTL::update()
 {
     switch (smart_rtl_state) {
-        case SmartRTL_WaitForPathCleanup:
+        case SmartRTLState::WaitForPathCleanup:
             // check if return path is computed and if yes, begin journey home
             if (g2.smart_rtl.request_thorough_cleanup()) {
-                smart_rtl_state = SmartRTL_PathFollow;
+                smart_rtl_state = SmartRTLState::PathFollow;
                 _load_point = true;
             }
             // Note: this may lead to an unnecessary 20ms slow down of the vehicle (but it is unlikely)
             stop_vehicle();
             break;
 
-        case SmartRTL_PathFollow:
+        case SmartRTLState::PathFollow:
             // load point if required
             if (_load_point) {
                 Vector3f dest_NED;
                 if (!g2.smart_rtl.pop_point(dest_NED)) {
                     // if not more points, we have reached home
                     gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
-                    smart_rtl_state = SmartRTL_StopAtHome;
+                    smart_rtl_state = SmartRTLState::StopAtHome;
                     break;
                 } else {
                     // peek at the next point.  this can fail if the IO task currently has the path semaphore
@@ -57,7 +57,7 @@ void ModeSmartRTL::update()
                         if (!g2.wp_nav.set_desired_location_NED(dest_NED, next_dest_NED)) {
                             // this should never happen because the EKF origin should already be set
                             gcs().send_text(MAV_SEVERITY_INFO, "SmartRTL: failed to set destination");
-                            smart_rtl_state = SmartRTL_Failure;
+                            smart_rtl_state = SmartRTLState::Failure;
                             INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
                         }
                     } else {
@@ -65,7 +65,7 @@ void ModeSmartRTL::update()
                         if (!g2.wp_nav.set_desired_location_NED(dest_NED)) {
                             // this should never happen because the EKF origin should already be set
                             gcs().send_text(MAV_SEVERITY_INFO, "SmartRTL: failed to set destination");
-                            smart_rtl_state = SmartRTL_Failure;
+                            smart_rtl_state = SmartRTLState::Failure;
                             INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
                         }
                     }
@@ -81,8 +81,8 @@ void ModeSmartRTL::update()
             }
             break;
 
-        case SmartRTL_StopAtHome:
-        case SmartRTL_Failure:
+        case SmartRTLState::StopAtHome:
+        case SmartRTLState::Failure:
             _reached_destination = true;
             // we have reached the destination
             // boats loiters, rovers stop
@@ -107,16 +107,16 @@ void ModeSmartRTL::update()
 bool ModeSmartRTL::get_desired_location(Location& destination) const
 {
     switch (smart_rtl_state) {
-    case SmartRTL_WaitForPathCleanup:
+    case SmartRTLState::WaitForPathCleanup:
         return false;
-    case SmartRTL_PathFollow:
+    case SmartRTLState::PathFollow:
         if (g2.wp_nav.is_destination_valid()) {
             destination = g2.wp_nav.get_destination();
             return true;
         }
         return false;
-    case SmartRTL_StopAtHome:
-    case SmartRTL_Failure:
+    case SmartRTLState::StopAtHome:
+    case SmartRTLState::Failure:
         return false;
     }
     // should never reach here but just in case