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Rover: Whitespace change only 

Ran astyle over commands_logic.cpp because the file was all over the
place.  Used the Tools/CodeStyle/astylerc as the options.
This commit is contained in:
Grant Morphett 2016-10-30 20:21:03 +11:00
parent ab99ea54eb
commit 960fd58c9c
1 changed files with 138 additions and 139 deletions
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277
APMrover2/commands_logic.cpp
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@ -20,102 +20,102 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
// remember the course of our next navigation leg // remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0); next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
switch(cmd.id){ switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd); do_nav_wp(cmd);
break; break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL(); do_RTL();
break; break;
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
do_loiter_unlimited(cmd); do_loiter_unlimited(cmd);
break; break;
// Conditional commands // Conditional commands
case MAV_CMD_CONDITION_DELAY: case MAV_CMD_CONDITION_DELAY:
do_wait_delay(cmd); do_wait_delay(cmd);
break; break;
case MAV_CMD_CONDITION_DISTANCE: case MAV_CMD_CONDITION_DISTANCE:
do_within_distance(cmd); do_within_distance(cmd);
break; break;
// Do commands // Do commands
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
do_change_speed(cmd); do_change_speed(cmd);
break; break;
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
do_set_home(cmd); do_set_home(cmd);
break; break;
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm); ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break; break;
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state); ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break; break;
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm, ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f); cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break; break;
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count, ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f); cmd.content.repeat_relay.cycle_time * 1000.0f);
break; break;
#if CAMERA == ENABLED #if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break; break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
do_digicam_configure(cmd); do_digicam_configure(cmd);
break; break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
do_digicam_control(cmd); do_digicam_control(cmd);
break; break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters); camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break; break;
#endif #endif
#if MOUNT == ENABLED #if MOUNT == ENABLED
// Sets the region of interest (ROI) for a sensor set or the // Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control // vehicle itself. This can then be used by the vehicles control
// system to control the vehicle attitude and the attitude of various // system to control the vehicle attitude and the attitude of various
// devices such as cameras. // devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| // |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_SET_ROI:
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) { if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
// switch off the camera tracking if enabled // switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default(); camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_target(cmd.content.location);
} }
break; } else {
// send the command to the camera mount
camera_mount.set_roi_target(cmd.content.location);
}
break;
#endif #endif
case MAV_CMD_DO_SET_REVERSE: case MAV_CMD_DO_SET_REVERSE:
do_set_reverse(cmd); do_set_reverse(cmd);
break; break;
default: default:
// return false for unhandled commands // return false for unhandled commands
return false; return false;
} }
// if we got this far we must have been successful // if we got this far we must have been successful
return true; return true;
} }
// exit_mission - callback function called from ap-mission when the mission has completed // exit_mission - callback function called from ap-mission when the mission has completed
@ -156,44 +156,44 @@ Return true if we do not recognize the command so that we move on to the next co
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd) bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{ {
switch(cmd.id) { switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd); return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL(); return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim(); return verify_loiter_unlim();
case MAV_CMD_CONDITION_DELAY: case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay(); return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE: case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance(); return verify_within_distance();
// do commands (always return true) // do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO: case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE: case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_REVERSE: case MAV_CMD_DO_SET_REVERSE:
return true; return true;
default: default:
// error message // error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id); gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
} }
@ -204,8 +204,8 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
void Rover::do_RTL(void) void Rover::do_RTL(void)
{ {
prev_WP = current_loc; prev_WP = current_loc;
control_mode = RTL; control_mode = RTL;
next_WP = home; next_WP = home;
} }
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd) void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
@ -218,7 +218,7 @@ void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
// this is the distance we travel past the waypoint - not there yet so 0 initially // this is the distance we travel past the waypoint - not there yet so 0 initially
distance_past_wp = 0; distance_past_wp = 0;
set_next_WP(cmd.content.location); set_next_WP(cmd.content.location);
} }
void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
@ -283,11 +283,11 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL() bool Rover::verify_RTL()
{ {
if (wp_distance <= g.waypoint_radius) { if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached destination"); gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
rtl_complete = true; rtl_complete = true;
return true; return true;
} }
// have we gone past the waypoint? // have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
@ -310,8 +310,7 @@ bool Rover::verify_loiter_unlim()
void Rover::nav_set_yaw_speed() void Rover::nav_set_yaw_speed()
{ {
// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt // if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_yaw_speed.msg_time_ms) > 3000) if ((millis() - guided_yaw_speed.msg_time_ms) > 3000) {
{
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping"); gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
channel_throttle->set_servo_out(g.throttle_min.get()); channel_throttle->set_servo_out(g.throttle_min.get());
channel_steer->set_servo_out(0); channel_steer->set_servo_out(0);
@ -336,13 +335,13 @@ void Rover::nav_set_yaw_speed()
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd) void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{ {
condition_start = millis(); condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
} }
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd) void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
{ {
condition_value = cmd.content.distance.meters; condition_value = cmd.content.distance.meters;
} }
/********************************************************************************/ /********************************************************************************/
@ -351,20 +350,20 @@ void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_wait_delay() bool Rover::verify_wait_delay()
{ {
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){ if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value) {
condition_value = 0; condition_value = 0;
return true; return true;
} }
return false; return false;
} }
bool Rover::verify_within_distance() bool Rover::verify_within_distance()
{ {
if (wp_distance < condition_value){ if (wp_distance < condition_value) {
condition_value = 0; condition_value = 0;
return true; return true;
} }
return false; return false;
} }
/********************************************************************************/ /********************************************************************************/
@ -378,22 +377,22 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get()); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
} }
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) { if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct); g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get()); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
} }
} }
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd) void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
{ {
if(cmd.p1 == 1 && have_position) { if (cmd.p1 == 1 && have_position) {
init_home(); init_home();
} else { } else {
ahrs.set_home(cmd.content.location); ahrs.set_home(cmd.content.location);
home_is_set = HOME_SET_NOT_LOCKED; home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin(); Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(cmd.content.location); GCS_MAVLINK::send_home_all(cmd.content.location);
} }
} }
// do_digicam_configure Send Digicam Configure message with the camera library // do_digicam_configure Send Digicam Configure message with the camera library
@ -420,7 +419,7 @@ void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
cmd.content.digicam_control.focus_lock, cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd, cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id)) { cmd.content.digicam_control.cmd_id)) {
log_picture(); log_picture();
} }
#endif #endif
} }
@ -445,15 +444,15 @@ void Rover::log_picture()
} else { } else {
if (should_log(MASK_LOG_CAMERA)) { if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc); DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
} }
} }
} }
void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd) void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
{ {
if (cmd.p1 == 1) { if (cmd.p1 == 1) {
set_reverse(true); set_reverse(true);
} else { } else {
set_reverse(false); set_reverse(false);
} }
} }