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RC_Channel: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos'

This commit is contained in:
Peter Barker 2020-06-03 12:21:50 +10:00 committed by Peter Barker
parent 77e5236278
commit 88f4232e46
2 changed files with 96 additions and 96 deletions
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154
libraries/RC_Channel/RC_Channel.cpp
View File

@ -409,7 +409,7 @@ void RC_Channel::read_mode_switch()
else if (pulsewidth < 1750) position = 4;
else position = 5;
if (!debounce_completed(position)) {
if (!debounce_completed((int8_t)position)) {
return;
}
@ -446,7 +446,7 @@ bool RC_Channel::debounce_completed(int8_t position)
//
// init_aux_switch_function - initialize aux functions
void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
// init channel options
switch(ch_option) {
@ -506,12 +506,12 @@ bool RC_Channel::read_aux()
// here e.g. RCMAP_ROLL etc once they become options
return false;
}
aux_switch_pos_t new_position;
AuxSwitchPos new_position;
if (!read_3pos_switch(new_position)) {
return false;
}
if (!debounce_completed(new_position)) {
if (!debounce_completed((int8_t)new_position)) {
return false;
}
@ -521,23 +521,23 @@ bool RC_Channel::read_aux()
}
void RC_Channel::do_aux_function_armdisarm(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
{
// arm or disarm the vehicle
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
AP::arming().arm(AP_Arming::Method::AUXSWITCH, true);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
AP::arming().disarm(AP_Arming::Method::AUXSWITCH);
break;
}
}
void RC_Channel::do_aux_function_avoid_adsb(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
{
AP_Avoidance *avoidance = AP::ap_avoidance();
if (avoidance == nullptr) {
@ -547,7 +547,7 @@ void RC_Channel::do_aux_function_avoid_adsb(const aux_switch_pos_t ch_flag)
if (adsb == nullptr) {
return;
}
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
// try to enable AP_Avoidance
if (!adsb->enabled()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not enabled");
@ -565,7 +565,7 @@ void RC_Channel::do_aux_function_avoid_adsb(const aux_switch_pos_t ch_flag)
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
}
void RC_Channel::do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
{
AC_Avoid *avoid = AP::ac_avoid();
if (avoid == nullptr) {
@ -573,30 +573,30 @@ void RC_Channel::do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag)
}
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
avoid->proximity_avoidance_enable(true);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
avoid->proximity_avoidance_enable(false);
break;
}
}
void RC_Channel::do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return;
}
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
camera->take_picture();
}
}
void RC_Channel::do_aux_function_runcam_control(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
{
#if HAL_RUNCAM_ENABLED
AP_RunCam *runcam = AP::runcam();
@ -605,20 +605,20 @@ void RC_Channel::do_aux_function_runcam_control(const aux_switch_pos_t ch_flag)
}
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
runcam->start_recording();
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
runcam->osd_option();
break;
case LOW:
case AuxSwitchPos::LOW:
runcam->stop_recording();
break;
}
#endif
}
void RC_Channel::do_aux_function_runcam_osd_control(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
{
#if HAL_RUNCAM_ENABLED
AP_RunCam *runcam = AP::runcam();
@ -627,11 +627,11 @@ void RC_Channel::do_aux_function_runcam_osd_control(const aux_switch_pos_t ch_fl
}
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
runcam->enter_osd();
break;
case MIDDLE:
case LOW:
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
runcam->exit_osd();
break;
}
@ -639,23 +639,23 @@ void RC_Channel::do_aux_function_runcam_osd_control(const aux_switch_pos_t ch_fl
}
// enable or disable the fence
void RC_Channel::do_aux_function_fence(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_fence(const AuxSwitchPos ch_flag)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
fence->enable(ch_flag == HIGH);
fence->enable(ch_flag == AuxSwitchPos::HIGH);
}
void RC_Channel::do_aux_function_clear_wp(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
{
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
return;
}
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
mission->clear();
}
}
@ -669,7 +669,7 @@ void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
servorelayevents->do_set_relay(relay, val);
}
void RC_Channel::do_aux_function_sprayer(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_sprayer(const AuxSwitchPos ch_flag)
{
#if HAL_SPRAYER_ENABLED
AC_Sprayer *sprayer = AP::sprayer();
@ -677,13 +677,13 @@ void RC_Channel::do_aux_function_sprayer(const aux_switch_pos_t ch_flag)
return;
}
sprayer->run(ch_flag == HIGH);
sprayer->run(ch_flag == AuxSwitchPos::HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer->test_pump((ch_flag == HIGH) && !hal.util->get_soft_armed());
sprayer->test_pump((ch_flag == AuxSwitchPos::HIGH) && !hal.util->get_soft_armed());
#endif // HAL_SPRAYER_ENABLED
}
void RC_Channel::do_aux_function_gripper(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_gripper(const AuxSwitchPos ch_flag)
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
@ -691,53 +691,53 @@ void RC_Channel::do_aux_function_gripper(const aux_switch_pos_t ch_flag)
}
switch(ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
gripper->release();
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case HIGH:
case AuxSwitchPos::HIGH:
gripper->grab();
break;
}
}
void RC_Channel::do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_lost_vehicle_sound(const AuxSwitchPos ch_flag)
{
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
AP_Notify::flags.vehicle_lost = true;
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
AP_Notify::flags.vehicle_lost = false;
break;
}
}
void RC_Channel::do_aux_function_rc_override_enable(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag)
{
switch (ch_flag) {
case HIGH: {
case AuxSwitchPos::HIGH: {
rc().set_gcs_overrides_enabled(true);
break;
}
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW: {
case AuxSwitchPos::LOW: {
rc().set_gcs_overrides_enabled(false);
break;
}
}
}
void RC_Channel::do_aux_function_mission_reset(const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
{
if (ch_flag != HIGH) {
if (ch_flag != AuxSwitchPos::HIGH) {
return;
}
AP_Mission *mission = AP::mission();
@ -747,7 +747,7 @@ void RC_Channel::do_aux_function_mission_reset(const aux_switch_pos_t ch_flag)
mission->reset();
}
void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
void RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
case AUX_FUNC::CAMERA_TRIGGER:
@ -772,22 +772,22 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
break;
case AUX_FUNC::RELAY:
do_aux_function_relay(0, ch_flag == HIGH);
do_aux_function_relay(0, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RELAY2:
do_aux_function_relay(1, ch_flag == HIGH);
do_aux_function_relay(1, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RELAY3:
do_aux_function_relay(2, ch_flag == HIGH);
do_aux_function_relay(2, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RELAY4:
do_aux_function_relay(3, ch_flag == HIGH);
do_aux_function_relay(3, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RELAY5:
do_aux_function_relay(4, ch_flag == HIGH);
do_aux_function_relay(4, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RELAY6:
do_aux_function_relay(5, ch_flag == HIGH);
do_aux_function_relay(5, ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RUNCAM_CONTROL:
@ -822,13 +822,13 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
break;
case AUX_FUNC::DISARM:
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
AP::arming().disarm(AP_Arming::Method::AUXSWITCH);
}
break;
case AUX_FUNC::COMPASS_LEARN:
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
Compass &compass = AP::compass();
compass.set_learn_type(Compass::LEARN_INFLIGHT, false);
}
@ -840,13 +840,13 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
break;
}
switch (ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
lg->set_position(AP_LandingGear::LandingGear_Deploy);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case HIGH:
case AuxSwitchPos::HIGH:
lg->set_position(AP_LandingGear::LandingGear_Retract);
break;
}
@ -854,12 +854,12 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
}
case AUX_FUNC::GPS_DISABLE:
AP::gps().force_disable(ch_flag == HIGH);
AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::MOTOR_ESTOP:
switch (ch_flag) {
case HIGH: {
case AuxSwitchPos::HIGH: {
SRV_Channels::set_emergency_stop(true);
// log E-stop
@ -869,10 +869,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
}
break;
}
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW: {
case AuxSwitchPos::LOW: {
SRV_Channels::set_emergency_stop(false);
// log E-stop cleared
@ -887,7 +887,7 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
case AUX_FUNC::VISODOM_CALIBRATE:
#if HAL_VISUALODOM_ENABLED
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom != nullptr) {
visual_odom->align_sensor_to_vehicle();
@ -898,7 +898,7 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
#if !HAL_MINIMIZE_FEATURES
case AUX_FUNC::KILL_IMU1:
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
AP::ins().kill_imu(0, true);
} else {
AP::ins().kill_imu(0, false);
@ -906,7 +906,7 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
break;
case AUX_FUNC::KILL_IMU2:
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
AP::ins().kill_imu(1, true);
} else {
AP::ins().kill_imu(1, false);
@ -921,13 +921,13 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
break;
}
switch (ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
// nothing
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case HIGH:
case AuxSwitchPos::HIGH:
camera->cam_mode_toggle();
break;
}
@ -952,15 +952,15 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
void RC_Channel::init_aux()
{
aux_switch_pos_t position;
AuxSwitchPos position;
if (!read_3pos_switch(position)) {
position = aux_switch_pos_t::LOW;
position = AuxSwitchPos::LOW;
}
init_aux_function((aux_func_t)option.get(), position);
}
// read_3pos_switch
bool RC_Channel::read_3pos_switch(RC_Channel::aux_switch_pos_t &ret) const
bool RC_Channel::read_3pos_switch(RC_Channel::AuxSwitchPos &ret) const
{
const uint16_t in = get_radio_in();
if (in <= 900 or in >= 2200) {
@ -971,20 +971,20 @@ bool RC_Channel::read_3pos_switch(RC_Channel::aux_switch_pos_t &ret) const
bool switch_reversed = reversed && rc().switch_reverse_allowed();
if (in < AUX_PWM_TRIGGER_LOW) {
ret = switch_reversed ? HIGH : LOW;
ret = switch_reversed ? AuxSwitchPos::HIGH : AuxSwitchPos::LOW;
} else if (in > AUX_PWM_TRIGGER_HIGH) {
ret = switch_reversed ? LOW : HIGH;
ret = switch_reversed ? AuxSwitchPos::LOW : AuxSwitchPos::HIGH;
} else {
ret = MIDDLE;
ret = AuxSwitchPos::MIDDLE;
}
return true;
}
// return switch position value as LOW, MIDDLE, HIGH
// if reading the switch fails then it returns LOW
RC_Channel::aux_switch_pos_t RC_Channel::get_aux_switch_pos() const
RC_Channel::AuxSwitchPos RC_Channel::get_aux_switch_pos() const
{
aux_switch_pos_t position = aux_switch_pos_t::LOW;
AuxSwitchPos position = AuxSwitchPos::LOW;
UNUSED_RESULT(read_3pos_switch(position));
return position;
@ -992,10 +992,10 @@ RC_Channel::aux_switch_pos_t RC_Channel::get_aux_switch_pos() const
// return switch position value as LOW, MIDDLE, HIGH
// if reading the switch fails then it returns LOW
RC_Channel::aux_switch_pos_t RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
{
const RC_Channel* chan = rc().channel(rcmapchan-1);
return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::aux_switch_pos_t::LOW;
return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW;
}
RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)

38
libraries/RC_Channel/RC_Channel.h
View File

@ -196,34 +196,34 @@ public:
typedef enum AUX_FUNC aux_func_t;
// auxillary switch handling (n.b.: we store this as 2-bits!):
enum aux_switch_pos_t : uint8_t {
enum class AuxSwitchPos : uint8_t {
LOW, // indicates auxiliary switch is in the low position (pwm <1200)
MIDDLE, // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
HIGH // indicates auxiliary switch is in the high position (pwm >1800)
};
bool read_3pos_switch(aux_switch_pos_t &ret) const WARN_IF_UNUSED;
aux_switch_pos_t get_aux_switch_pos() const;
bool read_3pos_switch(AuxSwitchPos &ret) const WARN_IF_UNUSED;
AuxSwitchPos get_aux_switch_pos() const;
protected:
virtual void init_aux_function(aux_func_t ch_option, aux_switch_pos_t);
virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t);
virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
virtual void do_aux_function(aux_func_t ch_option, AuxSwitchPos);
virtual void do_aux_function_armdisarm(const aux_switch_pos_t ch_flag);
void do_aux_function_avoid_adsb(const aux_switch_pos_t ch_flag);
void do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag);
void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
void do_aux_function_runcam_control(const aux_switch_pos_t ch_flag);
void do_aux_function_runcam_osd_control(const aux_switch_pos_t ch_flag);
void do_aux_function_fence(const aux_switch_pos_t ch_flag);
void do_aux_function_clear_wp(const aux_switch_pos_t ch_flag);
void do_aux_function_gripper(const aux_switch_pos_t ch_flag);
void do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag);
void do_aux_function_mission_reset(const aux_switch_pos_t ch_flag);
void do_aux_function_rc_override_enable(const aux_switch_pos_t ch_flag);
virtual void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag);
void do_aux_function_camera_trigger(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_control(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag);
void do_aux_function_fence(const AuxSwitchPos ch_flag);
void do_aux_function_clear_wp(const AuxSwitchPos ch_flag);
void do_aux_function_gripper(const AuxSwitchPos ch_flag);
void do_aux_function_lost_vehicle_sound(const AuxSwitchPos ch_flag);
void do_aux_function_mission_reset(const AuxSwitchPos ch_flag);
void do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag);
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_sprayer(const aux_switch_pos_t ch_flag);
void do_aux_function_sprayer(const AuxSwitchPos ch_flag);
typedef int8_t modeswitch_pos_t;
virtual void mode_switch_changed(modeswitch_pos_t new_pos) {
@ -326,7 +326,7 @@ public:
class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
bool duplicate_options_exist();
RC_Channel::aux_switch_pos_t get_channel_pos(const uint8_t rcmapchan) const;
RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;
void init_aux_all();
void read_aux_all();