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AC_Avoidance: Dijkstra's returns oa-not-required if path has been completed

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This commit is contained in:
Randy Mackay 2019-07-24 15:47:47 +09:00
parent 452be5fd94
commit a8fd04ddf9
1 changed files with 4 additions and 3 deletions
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7
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -88,6 +88,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
if (!_shortest_path_ok) { if (!_shortest_path_ok) {
_shortest_path_ok = calc_shortest_path(current_loc, destination); _shortest_path_ok = calc_shortest_path(current_loc, destination);
if (!_shortest_path_ok) { if (!_shortest_path_ok) {
AP::logger().Write_OADijkstra(DIJKSTRA_STATE_ERROR, 0, 0, destination, destination);
return DIJKSTRA_STATE_ERROR; return DIJKSTRA_STATE_ERROR;
} }
// start from 2nd point on path (first is the original origin) // start from 2nd point on path (first is the original origin)
@ -126,9 +127,9 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
return DIJKSTRA_STATE_SUCCESS; return DIJKSTRA_STATE_SUCCESS;
} }
// log failure // we have reached the destination so avoidance is no longer required
AP::logger().Write_OADijkstra(DIJKSTRA_STATE_ERROR, 0, 0, destination, destination); AP::logger().Write_OADijkstra(DIJKSTRA_STATE_NOT_REQUIRED, 0, 0, destination, destination);
return DIJKSTRA_STATE_ERROR; return DIJKSTRA_STATE_NOT_REQUIRED;
} }
// returns true if polygon fence is enabled // returns true if polygon fence is enabled