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AP_Mission: add static create method

This commit is contained in:
Lucas De Marchi 2017-08-28 14:15:04 -07:00 committed by Francisco Ferreira
parent de5e044b02
commit ef50783268
1 changed files with 35 additions and 22 deletions
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57
libraries/AP_Mission/AP_Mission.h
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@ -272,30 +272,19 @@ public:
MISSION_COMPLETE=2
};
/// constructor
AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
_ahrs(ahrs),
_cmd_start_fn(cmd_start_fn),
_cmd_verify_fn(cmd_verify_fn),
_mission_complete_fn(mission_complete_fn),
_prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE),
_prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE),
_prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE),
_last_change_time_ms(0)
{
// load parameter defaults
AP_Param::setup_object_defaults(this, var_info);
// clear commands
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
// initialise other internal variables
_flags.state = MISSION_STOPPED;
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
static AP_Mission create(AP_AHRS &ahrs,
mission_cmd_fn_t cmd_start_fn,
mission_cmd_fn_t cmd_verify_fn,
mission_complete_fn_t mission_complete_fn) {
return AP_Mission(ahrs, cmd_start_fn, cmd_verify_fn, mission_complete_fn);
}
constexpr AP_Mission(AP_Mission &&other) = default;
/* Do not allow copies */
AP_Mission(const AP_Mission &other) = delete;
AP_Mission &operator=(const AP_Mission&) = delete;
///
/// public mission methods
///
@ -454,6 +443,30 @@ private:
uint8_t do_cmd_all_done : 1; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands)
} _flags;
AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
_ahrs(ahrs),
_cmd_start_fn(cmd_start_fn),
_cmd_verify_fn(cmd_verify_fn),
_mission_complete_fn(mission_complete_fn),
_prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE),
_prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE),
_prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE),
_last_change_time_ms(0)
{
// load parameter defaults
AP_Param::setup_object_defaults(this, var_info);
// clear commands
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
// initialise other internal variables
_flags.state = MISSION_STOPPED;
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
}
///
/// private methods
///