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APMrover: uniformize verify_command

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Add better gcs message,
Add all handle message,
Reformate comments,
This commit is contained in:
Pierre Kancir 2016-08-22 11:00:12 +02:00 committed by Tom Pittenger
parent 6d09897b19
commit 6cb71fef0c
1 changed files with 31 additions and 9 deletions
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40
APMrover2/commands_logic.cpp
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@ -146,10 +146,15 @@ bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
} }
return false; return false;
} }
/********************************************************************************/
// Verify command Handlers /*******************************************************************************
// Returns true if command complete Verify command Handlers
/********************************************************************************/
Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd) bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{ {
@ -170,15 +175,32 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_CONDITION_DISTANCE: case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance(); return verify_within_distance();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_REVERSE:
return true;
default: default:
if (cmd.id > MAV_CMD_CONDITION_LAST) { // error message
// this is a command that doesn't require verify if (AP_Mission::is_nav_cmd(cmd)) {
return true; gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav. Invalid or no current nav cmd");
}else{
gcs_send_text(MAV_SEVERITY_WARNING,"Verify condition. Invalid or no current condition cmd");
} }
gcs_send_text(MAV_SEVERITY_CRITICAL,"Verify condition. Unsupported command"); // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
return false;
} }
/********************************************************************************/ /********************************************************************************/