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commander use const where possible

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- this helps tease apart the various pieces of commander.
This commit is contained in:
Daniel Agar
2018-03-27 15:16:19 -04:00
parent 0038a5e755
commit c194c1acb5
5 changed files with 179 additions and 182 deletions
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29
src/modules/commander/state_machine_helper.cpp
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@@ -393,8 +393,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
}
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
vehicle_status_flags_s *status_flags, struct commander_state_s *internal_state)
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, uint8_t &main_state_prev, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state)
{
// IMPORTANT: The assumption of callers of this function is that the execution of
// this check if essentially "free". Therefore any runtime checking in here has to be
@@ -415,8 +414,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
if (status_flags->condition_local_altitude_valid ||
status_flags->condition_global_position_valid) {
if (status_flags.condition_local_altitude_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -425,8 +424,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_POSCTL:
/* need at minimum local position estimate */
if (status_flags->condition_local_position_valid ||
status_flags->condition_global_position_valid) {
if (status_flags.condition_local_position_valid ||
status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -435,7 +434,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status_flags->condition_global_position_valid) {
if (status_flags.condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -444,7 +443,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET:
/* FOLLOW only implemented in MC */
if (status->is_rotary_wing) {
if (status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -453,8 +452,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */
if (status_flags->condition_global_position_valid &&
status_flags->condition_auto_mission_available) {
if (status_flags.condition_global_position_valid &&
status_flags.condition_auto_mission_available) {
ret = TRANSITION_CHANGED;
}
@@ -464,7 +463,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -474,7 +473,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need local position */
if (status_flags->condition_local_position_valid) {
if (status_flags.condition_local_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -483,7 +482,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags->condition_local_position_valid && status_flags->condition_global_position_valid && status->is_rotary_wing) {
if (status_flags.condition_local_position_valid && status_flags.condition_global_position_valid && status.is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
@@ -492,7 +491,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_OFFBOARD:
/* need offboard signal */
if (!status_flags->offboard_control_signal_lost) {
if (!status_flags.offboard_control_signal_lost) {
ret = TRANSITION_CHANGED;
}
@@ -1044,7 +1043,7 @@ void set_link_loss_nav_state(vehicle_status_s *status,
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
uint8_t main_state_prev = 0;
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, status_flags, internal_state);
main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, *status_flags, internal_state);
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) {