diff --git a/libraries/AP_Logger/LoggerMessageWriter.cpp b/libraries/AP_Logger/LoggerMessageWriter.cpp index 447e954247..a27de642f0 100644 --- a/libraries/AP_Logger/LoggerMessageWriter.cpp +++ b/libraries/AP_Logger/LoggerMessageWriter.cpp @@ -25,7 +25,7 @@ void LoggerMessageWriter_DFLogStart::reset() _writeentiremission.reset(); _writeallrallypoints.reset(); - stage = ls_blockwriter_stage_formats; + stage = Stage::FORMATS; next_format_to_send = 0; _next_unit_to_send = 0; _next_multiplier_to_send = 0; @@ -36,7 +36,7 @@ void LoggerMessageWriter_DFLogStart::reset() void LoggerMessageWriter_DFLogStart::process() { switch(stage) { - case ls_blockwriter_stage_formats: + case Stage::FORMATS: // write log formats so the log is self-describing while (next_format_to_send < _logger_backend->num_types()) { if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) { @@ -45,40 +45,40 @@ void LoggerMessageWriter_DFLogStart::process() next_format_to_send++; } _fmt_done = true; - stage = ls_blockwriter_stage_units; + stage = Stage::UNITS; FALLTHROUGH; - case ls_blockwriter_stage_units: + case Stage::UNITS: while (_next_unit_to_send < _logger_backend->num_units()) { if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) { return; // call me again! } _next_unit_to_send++; } - stage = ls_blockwriter_stage_multipliers; + stage = Stage::MULTIPLIERS; FALLTHROUGH; - case ls_blockwriter_stage_multipliers: + case Stage::MULTIPLIERS: while (_next_multiplier_to_send < _logger_backend->num_multipliers()) { if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) { return; // call me again! } _next_multiplier_to_send++; } - stage = ls_blockwriter_stage_units; + stage = Stage::UNITS; FALLTHROUGH; - case ls_blockwriter_stage_format_units: + case Stage::FORMAT_UNITS: while (_next_format_unit_to_send < _logger_backend->num_types()) { if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) { return; // call me again! } _next_format_unit_to_send++; } - stage = ls_blockwriter_stage_parms; + stage = Stage::PARMS; FALLTHROUGH; - case ls_blockwriter_stage_parms: + case Stage::PARMS: while (ap) { if (!_logger_backend->Write_Parameter(ap, token, type)) { return; @@ -86,34 +86,34 @@ void LoggerMessageWriter_DFLogStart::process() ap = AP_Param::next_scalar(&token, &type); } - stage = ls_blockwriter_stage_sysinfo; + stage = Stage::SYSINFO; FALLTHROUGH; - case ls_blockwriter_stage_sysinfo: + case Stage::SYSINFO: _writesysinfo.process(); if (!_writesysinfo.finished()) { return; } - stage = ls_blockwriter_stage_write_entire_mission; + stage = Stage::WRITE_ENTIRE_MISSION; FALLTHROUGH; - case ls_blockwriter_stage_write_entire_mission: + case Stage::WRITE_ENTIRE_MISSION: _writeentiremission.process(); if (!_writeentiremission.finished()) { return; } - stage = ls_blockwriter_stage_write_all_rally_points; + stage = Stage::WRITE_ALL_RALLY_POINTS; FALLTHROUGH; - case ls_blockwriter_stage_write_all_rally_points: + case Stage::WRITE_ALL_RALLY_POINTS: _writeallrallypoints.process(); if (!_writeallrallypoints.finished()) { return; } - stage = ls_blockwriter_stage_vehicle_messages; + stage = Stage::VEHICLE_MESSAGES; FALLTHROUGH; - case ls_blockwriter_stage_vehicle_messages: + case Stage::VEHICLE_MESSAGES: // we guarantee 200 bytes of space for the vehicle startup // messages. This allows them to be simple functions rather // than e.g. LoggerMessageWriter-based state machines @@ -123,10 +123,10 @@ void LoggerMessageWriter_DFLogStart::process() } (_logger_backend->vehicle_message_writer())(); } - stage = ls_blockwriter_stage_done; + stage = Stage::DONE; FALLTHROUGH; - case ls_blockwriter_stage_done: + case Stage::DONE: break; } @@ -136,7 +136,7 @@ void LoggerMessageWriter_DFLogStart::process() void LoggerMessageWriter_WriteSysInfo::reset() { LoggerMessageWriter::reset(); - stage = ws_blockwriter_stage_formats; + stage = Stage::FORMATS; } void LoggerMessageWriter_WriteSysInfo::process() { @@ -144,18 +144,18 @@ void LoggerMessageWriter_WriteSysInfo::process() { switch(stage) { - case ws_blockwriter_stage_formats: - stage = ws_blockwriter_stage_firmware_string; + case Stage::FORMATS: + stage = Stage::FIRMWARE_STRING; FALLTHROUGH; - case ws_blockwriter_stage_firmware_string: + case Stage::FIRMWARE_STRING: if (! _logger_backend->Write_Message(fwver.fw_string)) { return; // call me again } - stage = ws_blockwriter_stage_git_versions; + stage = Stage::GIT_VERSIONS; FALLTHROUGH; - case ws_blockwriter_stage_git_versions: + case Stage::GIT_VERSIONS: if (fwver.middleware_name && fwver.os_name) { if (! _logger_backend->Write_MessageF("%s: %s %s: %s", fwver.middleware_name, @@ -171,27 +171,27 @@ void LoggerMessageWriter_WriteSysInfo::process() { return; // call me again } } - stage = ws_blockwriter_stage_system_id; + stage = Stage::SYSTEM_ID; FALLTHROUGH; - case ws_blockwriter_stage_system_id: + case Stage::SYSTEM_ID: char sysid[40]; if (hal.util->get_system_id(sysid)) { if (! _logger_backend->Write_Message(sysid)) { return; // call me again } } - stage = ws_blockwriter_stage_param_space_used; + stage = Stage::PARAM_SPACE_USED; FALLTHROUGH; - case ws_blockwriter_stage_param_space_used: + case Stage::PARAM_SPACE_USED: if (! _logger_backend->Write_MessageF("Param space used: %u/%u", AP_Param::storage_used(), AP_Param::storage_size())) { return; // call me again } - stage = ws_blockwriter_stage_rc_protocol; + stage = Stage::RC_PROTOCOL; FALLTHROUGH; - case ws_blockwriter_stage_rc_protocol: + case Stage::RC_PROTOCOL: const char *prot = hal.rcin->protocol(); if (prot == nullptr) { prot = "None"; @@ -214,14 +214,14 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() switch(stage) { - case ar_blockwriter_stage_write_new_rally_message: + case Stage::WRITE_NEW_RALLY_MESSAGE: if (! _logger_backend->Write_Message("New rally")) { return; // call me again } - stage = ar_blockwriter_stage_write_all_rally_points; + stage = Stage::WRITE_ALL_RALLY_POINTS; FALLTHROUGH; - case ar_blockwriter_stage_write_all_rally_points: + case Stage::WRITE_ALL_RALLY_POINTS: while (_rally_number_to_send < _rally->get_rally_total()) { RallyLocation rallypoint; if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) { @@ -234,10 +234,10 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() } _rally_number_to_send++; } - stage = ar_blockwriter_stage_done; + stage = Stage::DONE; FALLTHROUGH; - case ar_blockwriter_stage_done: + case Stage::DONE: break; } @@ -247,7 +247,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() void LoggerMessageWriter_WriteAllRallyPoints::reset() { LoggerMessageWriter::reset(); - stage = ar_blockwriter_stage_write_new_rally_message; + stage = Stage::WRITE_NEW_RALLY_MESSAGE; _rally_number_to_send = 0; } @@ -260,14 +260,14 @@ void LoggerMessageWriter_WriteEntireMission::process() { switch(stage) { - case em_blockwriter_stage_write_new_mission_message: + case Stage::WRITE_NEW_MISSION_MESSAGE: if (! _logger_backend->Write_Message("New mission")) { return; // call me again } - stage = em_blockwriter_stage_write_mission_items; + stage = Stage::WRITE_MISSION_ITEMS; FALLTHROUGH; - case em_blockwriter_stage_write_mission_items: { + case Stage::WRITE_MISSION_ITEMS: { AP_Mission::Mission_Command cmd; while (_mission_number_to_send < _mission->num_commands()) { // upon failure to write the mission we will re-read from @@ -279,11 +279,11 @@ void LoggerMessageWriter_WriteEntireMission::process() { } _mission_number_to_send++; } - stage = em_blockwriter_stage_done; + stage = Stage::DONE; FALLTHROUGH; } - case em_blockwriter_stage_done: + case Stage::DONE: break; } @@ -293,6 +293,6 @@ void LoggerMessageWriter_WriteEntireMission::process() { void LoggerMessageWriter_WriteEntireMission::reset() { LoggerMessageWriter::reset(); - stage = em_blockwriter_stage_write_new_mission_message; + stage = Stage::WRITE_NEW_MISSION_MESSAGE; _mission_number_to_send = 0; } diff --git a/libraries/AP_Logger/LoggerMessageWriter.h b/libraries/AP_Logger/LoggerMessageWriter.h index 4c645807a9..120bdde2ad 100644 --- a/libraries/AP_Logger/LoggerMessageWriter.h +++ b/libraries/AP_Logger/LoggerMessageWriter.h @@ -26,15 +26,15 @@ public: void process() override; private: - enum write_sysinfo_blockwriter_stage : uint8_t { - ws_blockwriter_stage_formats = 0, - ws_blockwriter_stage_firmware_string, - ws_blockwriter_stage_git_versions, - ws_blockwriter_stage_system_id, - ws_blockwriter_stage_param_space_used, - ws_blockwriter_stage_rc_protocol + enum class Stage : uint8_t { + FORMATS = 0, + FIRMWARE_STRING, + GIT_VERSIONS, + SYSTEM_ID, + PARAM_SPACE_USED, + RC_PROTOCOL }; - write_sysinfo_blockwriter_stage stage; + Stage stage; }; class LoggerMessageWriter_WriteEntireMission : public LoggerMessageWriter { @@ -44,14 +44,14 @@ public: void process() override; private: - enum entire_mission_blockwriter_stage { - em_blockwriter_stage_write_new_mission_message = 0, - em_blockwriter_stage_write_mission_items, - em_blockwriter_stage_done + enum Stage { + WRITE_NEW_MISSION_MESSAGE = 0, + WRITE_MISSION_ITEMS, + DONE }; uint16_t _mission_number_to_send; - entire_mission_blockwriter_stage stage; + Stage stage; }; class LoggerMessageWriter_WriteAllRallyPoints : public LoggerMessageWriter { @@ -61,14 +61,14 @@ public: void process() override; private: - enum all_rally_points_blockwriter_stage { - ar_blockwriter_stage_write_new_rally_message = 0, - ar_blockwriter_stage_write_all_rally_points, - ar_blockwriter_stage_done + enum Stage { + WRITE_NEW_RALLY_MESSAGE = 0, + WRITE_ALL_RALLY_POINTS, + DONE }; uint16_t _rally_number_to_send; - all_rally_points_blockwriter_stage stage = ar_blockwriter_stage_write_new_rally_message; + Stage stage = Stage::WRITE_NEW_RALLY_MESSAGE; }; class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter { @@ -93,22 +93,22 @@ public: private: - enum log_start_blockwriter_stage { - ls_blockwriter_stage_formats = 0, - ls_blockwriter_stage_units, - ls_blockwriter_stage_multipliers, - ls_blockwriter_stage_format_units, - ls_blockwriter_stage_parms, - ls_blockwriter_stage_sysinfo, - ls_blockwriter_stage_write_entire_mission, - ls_blockwriter_stage_write_all_rally_points, - ls_blockwriter_stage_vehicle_messages, - ls_blockwriter_stage_done, + enum Stage { + FORMATS = 0, + UNITS, + MULTIPLIERS, + FORMAT_UNITS, + PARMS, + SYSINFO, + WRITE_ENTIRE_MISSION, + WRITE_ALL_RALLY_POINTS, + VEHICLE_MESSAGES, + DONE, }; bool _fmt_done; - log_start_blockwriter_stage stage; + Stage stage; uint16_t next_format_to_send;