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AP_Proximity: use enum class for status

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This commit is contained in:
Peter Barker 2019-09-27 18:58:52 +10:00 committed by Randy Mackay
parent f5f6eb8231
commit 8fe16f5627
13 changed files with 36 additions and 36 deletions
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14
libraries/AP_Proximity/AP_Proximity.cpp
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@ -206,7 +206,7 @@ void AP_Proximity::init(void)
} }
// initialise status // initialise status
state[i].status = Proximity_NotConnected; state[i].status = Status::NotConnected;
} }
} }
@ -222,7 +222,7 @@ void AP_Proximity::update(void)
// work out primary instance - first sensor returning good data // work out primary instance - first sensor returning good data
for (int8_t i=num_instances-1; i>=0; i--) { for (int8_t i=num_instances-1; i>=0; i--) {
if (drivers[i] != nullptr && (state[i].status == Proximity_Good)) { if (drivers[i] != nullptr && (state[i].status == Status::Good)) {
primary_instance = i; primary_instance = i;
} }
} }
@ -249,17 +249,17 @@ int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
} }
// return sensor health // return sensor health
AP_Proximity::Proximity_Status AP_Proximity::get_status(uint8_t instance) const AP_Proximity::Status AP_Proximity::get_status(uint8_t instance) const
{ {
// sanity check instance number // sanity check instance number
if (!valid_instance(instance)) { if (!valid_instance(instance)) {
return Proximity_NotConnected; return Status::NotConnected;
} }
return state[instance].status; return state[instance].status;
} }
AP_Proximity::Proximity_Status AP_Proximity::get_status() const AP_Proximity::Status AP_Proximity::get_status() const
{ {
return get_status(primary_instance); return get_status(primary_instance);
} }
@ -458,7 +458,7 @@ AP_Proximity::Type AP_Proximity::get_type(uint8_t instance) const
bool AP_Proximity::sensor_present() const bool AP_Proximity::sensor_present() const
{ {
return get_status() != Proximity_NotConnected; return get_status() != Status::NotConnected;
} }
bool AP_Proximity::sensor_enabled() const bool AP_Proximity::sensor_enabled() const
{ {
@ -466,7 +466,7 @@ bool AP_Proximity::sensor_enabled() const
} }
bool AP_Proximity::sensor_failed() const bool AP_Proximity::sensor_failed() const
{ {
return get_status() != Proximity_Good; return get_status() != Status::Good;
} }
AP_Proximity *AP_Proximity::_singleton; AP_Proximity *AP_Proximity::_singleton;

14
libraries/AP_Proximity/AP_Proximity.h
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@ -53,10 +53,10 @@ public:
#endif #endif
}; };
enum Proximity_Status { enum Status {
Proximity_NotConnected = 0, NotConnected = 0,
Proximity_NoData, NoData,
Proximity_Good Good
}; };
// structure holding distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station // structure holding distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station
@ -80,8 +80,8 @@ public:
int16_t get_yaw_correction(uint8_t instance) const; int16_t get_yaw_correction(uint8_t instance) const;
// return sensor health // return sensor health
Proximity_Status get_status(uint8_t instance) const; Status get_status(uint8_t instance) const;
Proximity_Status get_status() const; Status get_status() const;
// Return the number of proximity sensors // Return the number of proximity sensors
uint8_t num_sensors(void) const { uint8_t num_sensors(void) const {
@ -119,7 +119,7 @@ public:
// The Proximity_State structure is filled in by the backend driver // The Proximity_State structure is filled in by the backend driver
struct Proximity_State { struct Proximity_State {
uint8_t instance; // the instance number of this proximity sensor uint8_t instance; // the instance number of this proximity sensor
enum Proximity_Status status; // sensor status Status status; // sensor status
}; };
// //

4
libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
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@ -38,11 +38,11 @@ void AP_Proximity_AirSimSITL::update(void)
{ {
SITL::vector3f_array &points = sitl->state.scanner.points; SITL::vector3f_array &points = sitl->state.scanner.points;
if (points.length == 0) { if (points.length == 0) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
return; return;
} }
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
memset(_distance_valid, 0, sizeof(_distance_valid)); memset(_distance_valid, 0, sizeof(_distance_valid));
memset(_angle, 0, sizeof(_angle)); memset(_angle, 0, sizeof(_angle));

4
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -142,7 +142,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) const const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) const
{ {
// high-level status check // high-level status check
if (state.status != AP_Proximity::Proximity_Good) { if (state.status != AP_Proximity::Status::Good) {
num_points = 0; num_points = 0;
return nullptr; return nullptr;
} }
@ -236,7 +236,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons
} }
// set status and update valid count // set status and update valid count
void AP_Proximity_Backend::set_status(AP_Proximity::Proximity_Status status) void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
{ {
state.status = status; state.status = status;
} }

2
libraries/AP_Proximity/AP_Proximity_Backend.h
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@ -68,7 +68,7 @@ public:
protected: protected:
// set status and update valid_count // set status and update valid_count
void set_status(AP_Proximity::Proximity_Status status); void set_status(AP_Proximity::Status status);
// find which sector a given angle falls into // find which sector a given angle falls into
bool convert_angle_to_sector(float angle_degrees, uint8_t &sector) const; bool convert_angle_to_sector(float angle_degrees, uint8_t &sector) const;

4
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -63,9 +63,9 @@ void AP_Proximity_LightWareSF40C::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_SF40C_TIMEOUT_MS)) { if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_SF40C_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }

4
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -40,9 +40,9 @@ void AP_Proximity_MAV::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) && if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) &&
(_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) { (_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }

4
libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp
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@ -41,11 +41,11 @@ void AP_Proximity_MorseSITL::update(void)
SITL::float_array &ranges = sitl->state.scanner.ranges; SITL::float_array &ranges = sitl->state.scanner.ranges;
if (points.length != ranges.length || if (points.length != ranges.length ||
points.length == 0) { points.length == 0) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
return; return;
} }
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
memset(_distance_valid, 0, sizeof(_distance_valid)); memset(_distance_valid, 0, sizeof(_distance_valid));
memset(_angle, 0, sizeof(_angle)); memset(_angle, 0, sizeof(_angle));

4
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
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@ -109,10 +109,10 @@ void AP_Proximity_RPLidarA2::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > COMM_ACTIVITY_TIMEOUT_MS)) { if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > COMM_ACTIVITY_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
Debug(1, "LIDAR NO DATA"); Debug(1, "LIDAR NO DATA");
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }

6
libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
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@ -35,7 +35,7 @@ void AP_Proximity_RangeFinder::update(void)
// exit immediately if no rangefinder object // exit immediately if no rangefinder object
const RangeFinder *rngfnd = frontend.get_rangefinder(); const RangeFinder *rngfnd = frontend.get_rangefinder();
if (rngfnd == nullptr) { if (rngfnd == nullptr) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
return; return;
} }
@ -76,9 +76,9 @@ void AP_Proximity_RangeFinder::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_update_ms == 0) || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) { if ((_last_update_ms == 0) || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }

4
libraries/AP_Proximity/AP_Proximity_SITL.cpp
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@ -54,7 +54,7 @@ void AP_Proximity_SITL::update(void)
if (AP::fence()->polyfence().inclusion_boundary_available()) { if (AP::fence()->polyfence().inclusion_boundary_available()) {
// update distance in one sector // update distance in one sector
if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) { if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
_distance_valid[last_sector] = true; _distance_valid[last_sector] = true;
_angle[last_sector] = _sector_middle_deg[last_sector]; _angle[last_sector] = _sector_middle_deg[last_sector];
update_boundary_for_sector(last_sector, true); update_boundary_for_sector(last_sector, true);
@ -66,7 +66,7 @@ void AP_Proximity_SITL::update(void)
last_sector = 0; last_sector = 0;
} }
} else { } else {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} }
} }

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
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@ -60,9 +60,9 @@ void AP_Proximity_TeraRangerTower::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) { if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
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@ -64,9 +64,9 @@ void AP_Proximity_TeraRangerTowerEvo::update(void)
// check for timeout and set health status // check for timeout and set health status
if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) { if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData); set_status(AP_Proximity::Status::NoData);
} else { } else {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Status::Good);
} }
} }