forked from Archive/PX4-Autopilot
refactor gps: use enum class for gps_driver_mode_t
This commit is contained in:
Beat Küng
Daniel Agar
parent
09a42e7af2
commit
0f6bf6bc0e
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@ -79,14 +79,14 @@
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#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
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#define RATE_MEASUREMENT_PERIOD 5000000
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typedef enum {
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GPS_DRIVER_MODE_NONE = 0,
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GPS_DRIVER_MODE_UBX,
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GPS_DRIVER_MODE_MTK,
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GPS_DRIVER_MODE_ASHTECH,
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GPS_DRIVER_MODE_EMLIDREACH,
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GPS_DRIVER_MODE_FEMTOMES
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} gps_driver_mode_t;
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enum class gps_driver_mode_t {
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None = 0,
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UBX,
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MTK,
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ASHTECH,
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EMLIDREACH,
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FEMTOMES
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};
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enum class gps_dump_comm_mode_t : int32_t {
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Disabled = 0,
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@ -303,7 +303,7 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
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set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
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}
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if (_mode == GPS_DRIVER_MODE_NONE) {
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if (_mode == gps_driver_mode_t::None) {
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// use parameter to select mode if not provided via CLI
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char protocol_param_name[16];
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snprintf(protocol_param_name, sizeof(protocol_param_name), "GPS_%i_PROTOCOL", (int)_instance + 1);
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@ -311,19 +311,19 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
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param_get(param_find(protocol_param_name), &protocol);
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switch (protocol) {
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case 1: _mode = GPS_DRIVER_MODE_UBX; break;
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case 1: _mode = gps_driver_mode_t::UBX; break;
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#ifndef CONSTRAINED_FLASH
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case 2: _mode = GPS_DRIVER_MODE_MTK; break;
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case 2: _mode = gps_driver_mode_t::MTK; break;
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case 3: _mode = GPS_DRIVER_MODE_ASHTECH; break;
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case 3: _mode = gps_driver_mode_t::ASHTECH; break;
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case 4: _mode = GPS_DRIVER_MODE_EMLIDREACH; break;
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case 4: _mode = gps_driver_mode_t::EMLIDREACH; break;
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#endif // CONSTRAINED_FLASH
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}
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}
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_mode_auto = _mode == GPS_DRIVER_MODE_NONE;
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_mode_auto = _mode == gps_driver_mode_t::None;
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}
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GPS::~GPS()
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@ -761,33 +761,33 @@ GPS::run()
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}
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switch (_mode) {
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case GPS_DRIVER_MODE_NONE:
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_mode = GPS_DRIVER_MODE_UBX;
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case gps_driver_mode_t::None:
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_mode = gps_driver_mode_t::UBX;
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/* FALLTHROUGH */
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case GPS_DRIVER_MODE_UBX:
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case gps_driver_mode_t::UBX:
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_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
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gps_ubx_dynmodel, heading_offset, ubx_mode);
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set_device_type(DRV_GPS_DEVTYPE_UBX);
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break;
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#ifndef CONSTRAINED_FLASH
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case GPS_DRIVER_MODE_MTK:
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case gps_driver_mode_t::MTK:
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_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
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set_device_type(DRV_GPS_DEVTYPE_MTK);
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break;
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case GPS_DRIVER_MODE_ASHTECH:
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case gps_driver_mode_t::ASHTECH:
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_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
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set_device_type(DRV_GPS_DEVTYPE_ASHTECH);
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break;
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case GPS_DRIVER_MODE_EMLIDREACH:
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case gps_driver_mode_t::EMLIDREACH:
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_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
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set_device_type(DRV_GPS_DEVTYPE_EMLID_REACH);
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break;
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case GPS_DRIVER_MODE_FEMTOMES:
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case gps_driver_mode_t::FEMTOMES:
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_helper = new GPSDriverFemto(&GPS::callback, this, &_report_gps_pos/*, _p_report_sat_info*/);
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set_device_type(DRV_GPS_DEVTYPE_FEMTOMES);
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break;
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@ -815,7 +815,7 @@ GPS::run()
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_report_gps_pos.heading = NAN;
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_report_gps_pos.heading_offset = heading_offset;
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if (_mode == GPS_DRIVER_MODE_UBX) {
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if (_mode == gps_driver_mode_t::UBX) {
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/* GPS is obviously detected successfully, reset statistics */
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_helper->resetUpdateRates();
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@ -894,19 +894,19 @@ GPS::run()
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// const char *mode_str = "unknown";
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//
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// switch (_mode) {
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// case GPS_DRIVER_MODE_UBX:
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// case gps_driver_mode_t::UBX:
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// mode_str = "UBX";
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// break;
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//
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// case GPS_DRIVER_MODE_MTK:
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// case gps_driver_mode_t::MTK:
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// mode_str = "MTK";
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// break;
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//
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// case GPS_DRIVER_MODE_ASHTECH:
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// case gps_driver_mode_t::ASHTECH:
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// mode_str = "ASHTECH";
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// break;
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//
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// case GPS_DRIVER_MODE_EMLIDREACH:
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// case gps_driver_mode_t::EMLIDREACH:
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// mode_str = "EMLID REACH";
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// break;
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//
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@ -933,26 +933,26 @@ GPS::run()
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if (_mode_auto) {
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switch (_mode) {
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case GPS_DRIVER_MODE_UBX:
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case gps_driver_mode_t::UBX:
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#ifndef CONSTRAINED_FLASH
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_mode = GPS_DRIVER_MODE_MTK;
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_mode = gps_driver_mode_t::MTK;
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break;
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case GPS_DRIVER_MODE_MTK:
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_mode = GPS_DRIVER_MODE_ASHTECH;
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case gps_driver_mode_t::MTK:
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_mode = gps_driver_mode_t::ASHTECH;
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break;
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case GPS_DRIVER_MODE_ASHTECH:
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_mode = GPS_DRIVER_MODE_EMLIDREACH;
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case gps_driver_mode_t::ASHTECH:
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_mode = gps_driver_mode_t::EMLIDREACH;
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break;
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case GPS_DRIVER_MODE_EMLIDREACH:
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_mode = GPS_DRIVER_MODE_FEMTOMES;
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case gps_driver_mode_t::EMLIDREACH:
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_mode = gps_driver_mode_t::FEMTOMES;
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break;
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case GPS_DRIVER_MODE_FEMTOMES:
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case gps_driver_mode_t::FEMTOMES:
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#endif // CONSTRAINED_FLASH
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_mode = GPS_DRIVER_MODE_UBX;
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_mode = gps_driver_mode_t::UBX;
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px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
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break;
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@ -987,24 +987,24 @@ GPS::print_status()
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// GPS Mode
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switch (_mode) {
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case GPS_DRIVER_MODE_UBX:
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case gps_driver_mode_t::UBX:
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PX4_INFO("protocol: UBX");
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break;
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#ifndef CONSTRAINED_FLASH
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case GPS_DRIVER_MODE_MTK:
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case gps_driver_mode_t::MTK:
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PX4_INFO("protocol: MTK");
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break;
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case GPS_DRIVER_MODE_ASHTECH:
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case gps_driver_mode_t::ASHTECH:
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PX4_INFO("protocol: ASHTECH");
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break;
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case GPS_DRIVER_MODE_EMLIDREACH:
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case gps_driver_mode_t::EMLIDREACH:
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PX4_INFO("protocol: EMLIDREACH");
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break;
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case GPS_DRIVER_MODE_FEMTOMES:
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case gps_driver_mode_t::FEMTOMES:
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PX4_INFO("protocol: FEMTOMES");
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break;
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#endif // CONSTRAINED_FLASH
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@ -1242,7 +1242,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
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bool enable_sat_info = false;
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GPSHelper::Interface interface = GPSHelper::Interface::UART;
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GPSHelper::Interface interface_secondary = GPSHelper::Interface::UART;
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gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
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gps_driver_mode_t mode = gps_driver_mode_t::None;
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bool error_flag = false;
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int myoptind = 1;
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@ -1304,19 +1304,19 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
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case 'p':
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if (!strcmp(myoptarg, "ubx")) {
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mode = GPS_DRIVER_MODE_UBX;
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mode = gps_driver_mode_t::UBX;
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#ifndef CONSTRAINED_FLASH
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} else if (!strcmp(myoptarg, "mtk")) {
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mode = GPS_DRIVER_MODE_MTK;
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mode = gps_driver_mode_t::MTK;
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} else if (!strcmp(myoptarg, "ash")) {
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mode = GPS_DRIVER_MODE_ASHTECH;
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mode = gps_driver_mode_t::ASHTECH;
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} else if (!strcmp(myoptarg, "eml")) {
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mode = GPS_DRIVER_MODE_EMLIDREACH;
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mode = gps_driver_mode_t::EMLIDREACH;
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} else if (!strcmp(myoptarg, "fem")) {
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mode = GPS_DRIVER_MODE_FEMTOMES;
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mode = gps_driver_mode_t::FEMTOMES;
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#endif // CONSTRAINED_FLASH
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} else {
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PX4_ERR("unknown protocol: %s", myoptarg);
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