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Rover: make Mode::Number enum class
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@khancyr
khancyr committed Sep 21, 2023
1 parent 5a749f7 commit b883959
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Showing 6 changed files with 35 additions and 29 deletions.
2 changes: 1 addition & 1 deletion Rover/GCS_Mavlink.cpp
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Expand Up @@ -53,7 +53,7 @@ MAV_MODE GCS_MAVLINK_Rover::base_mode() const

uint32_t GCS_Rover::custom_mode() const
{
return rover.control_mode->mode_number();
return (uint32_t)rover.control_mode->mode_number();
}

MAV_STATE GCS_MAVLINK_Rover::vehicle_system_status() const
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2 changes: 1 addition & 1 deletion Rover/Log.cpp
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Expand Up @@ -241,7 +241,7 @@ void Rover::Log_Write_RC(void)
void Rover::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by AP_Logger
logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
ahrs.Log_Write_Home_And_Origin();
gps.Write_AP_Logger_Log_Startup_messages();
}
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14 changes: 7 additions & 7 deletions Rover/Parameters.cpp
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Expand Up @@ -29,7 +29,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
// @CopyValuesFrom: MODE1
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", Mode::Number::MANUAL),
GSCALAR(initial_mode, "INITIAL_MODE", (int8_t)Mode::Number::MANUAL),

// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
Expand Down Expand Up @@ -174,38 +174,38 @@ const AP_Param::Info Rover::var_info[] = {
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,8:Dock,9:Circle,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(mode1, "MODE1", Mode::Number::MANUAL),
GSCALAR(mode1, "MODE1", (int8_t)Mode::Number::MANUAL),

// @Param: MODE2
// @DisplayName: Mode2
// @Description: Driving mode for switch position 2 (1231 to 1360)
// @CopyValuesFrom: MODE1
// @User: Standard
GSCALAR(mode2, "MODE2", Mode::Number::MANUAL),
GSCALAR(mode2, "MODE2", (int8_t)Mode::Number::MANUAL),

// @Param: MODE3
// @CopyFieldsFrom: MODE1
// @DisplayName: Mode3
// @Description: Driving mode for switch position 3 (1361 to 1490)
GSCALAR(mode3, "MODE3", Mode::Number::MANUAL),
GSCALAR(mode3, "MODE3", (int8_t)Mode::Number::MANUAL),

// @Param: MODE4
// @CopyFieldsFrom: MODE1
// @DisplayName: Mode4
// @Description: Driving mode for switch position 4 (1491 to 1620)
GSCALAR(mode4, "MODE4", Mode::Number::MANUAL),
GSCALAR(mode4, "MODE4", (int8_t)Mode::Number::MANUAL),

// @Param: MODE5
// @CopyFieldsFrom: MODE1
// @DisplayName: Mode5
// @Description: Driving mode for switch position 5 (1621 to 1749)
GSCALAR(mode5, "MODE5", Mode::Number::MANUAL),
GSCALAR(mode5, "MODE5", (int8_t)Mode::Number::MANUAL),

// @Param: MODE6
// @CopyFieldsFrom: MODE1
// @DisplayName: Mode6
// @Description: Driving mode for switch position 6 (1750 to 2049)
GSCALAR(mode6, "MODE6", Mode::Number::MANUAL),
GSCALAR(mode6, "MODE6", (int8_t)Mode::Number::MANUAL),

// variables not in the g class which contain EEPROM saved variables

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1 change: 1 addition & 0 deletions Rover/Rover.h
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Expand Up @@ -378,6 +378,7 @@ class Rover : public AP_Vehicle {
bool gcs_mode_enabled(const Mode::Number mode_num) const;
bool set_mode(Mode &new_mode, ModeReason reason);
bool set_mode(const uint8_t new_mode, ModeReason reason) override;
bool set_mode(Mode::Number new_mode, ModeReason reason);
uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
bool current_mode_requires_mission() const override {
return control_mode == &mode_auto;
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32 changes: 16 additions & 16 deletions Rover/mode.h
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Expand Up @@ -11,7 +11,7 @@ class Mode

// Auto Pilot modes
// ----------------
enum Number : uint8_t {
enum class Number : uint8_t {
MANUAL = 0,
ACRO = 1,
STEERING = 3,
Expand Down Expand Up @@ -43,7 +43,7 @@ class Mode
void exit();

// returns a unique number specific to this mode
virtual uint32_t mode_number() const = 0;
virtual Number mode_number() const = 0;

// returns short text name (up to 4 bytes)
virtual const char *name4() const = 0;
Expand Down Expand Up @@ -218,7 +218,7 @@ class ModeAcro : public Mode
{
public:

uint32_t mode_number() const override { return ACRO; }
Number mode_number() const override { return Number::ACRO; }
const char *name4() const override { return "ACRO"; }

// methods that affect movement of the vehicle in this mode
Expand All @@ -240,7 +240,7 @@ class ModeAuto : public Mode
{
public:

uint32_t mode_number() const override { return AUTO; }
Number mode_number() const override { return Number::AUTO; }
const char *name4() const override { return "AUTO"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -405,7 +405,7 @@ class ModeCircle : public Mode
// Does not allow copies
CLASS_NO_COPY(ModeCircle);

uint32_t mode_number() const override { return CIRCLE; }
Number mode_number() const override { return Number::CIRCLE; }
const char *name4() const override { return "CIRC"; }

// initialise with specific center location, radius (in meters) and direction
Expand Down Expand Up @@ -489,7 +489,7 @@ class ModeGuided : public Mode
{
public:

uint32_t mode_number() const override { return GUIDED; }
Number mode_number() const override { return Number::GUIDED; }
const char *name4() const override { return "GUID"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -593,7 +593,7 @@ class ModeHold : public Mode
{
public:

uint32_t mode_number() const override { return HOLD; }
Number mode_number() const override { return Number::HOLD; }
const char *name4() const override { return "HOLD"; }

// methods that affect movement of the vehicle in this mode
Expand All @@ -611,7 +611,7 @@ class ModeLoiter : public Mode
{
public:

uint32_t mode_number() const override { return LOITER; }
Number mode_number() const override { return Number::LOITER; }
const char *name4() const override { return "LOIT"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -643,7 +643,7 @@ class ModeManual : public Mode
{
public:

uint32_t mode_number() const override { return MANUAL; }
Number mode_number() const override { return Number::MANUAL; }
const char *name4() const override { return "MANU"; }

// methods that affect movement of the vehicle in this mode
Expand All @@ -667,7 +667,7 @@ class ModeRTL : public Mode
{
public:

uint32_t mode_number() const override { return RTL; }
Number mode_number() const override { return Number::RTL; }
const char *name4() const override { return "RTL"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -702,7 +702,7 @@ class ModeSmartRTL : public Mode
{
public:

uint32_t mode_number() const override { return SMART_RTL; }
Number mode_number() const override { return Number::SMART_RTL; }
const char *name4() const override { return "SRTL"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -748,7 +748,7 @@ class ModeSteering : public Mode
{
public:

uint32_t mode_number() const override { return STEERING; }
Number mode_number() const override { return Number::STEERING; }
const char *name4() const override { return "STER"; }

// methods that affect movement of the vehicle in this mode
Expand All @@ -773,7 +773,7 @@ class ModeInitializing : public Mode
{
public:

uint32_t mode_number() const override { return INITIALISING; }
Number mode_number() const override { return Number::INITIALISING; }
const char *name4() const override { return "INIT"; }

// methods that affect movement of the vehicle in this mode
Expand All @@ -794,7 +794,7 @@ class ModeFollow : public Mode
{
public:

uint32_t mode_number() const override { return FOLLOW; }
Number mode_number() const override { return Number::FOLLOW; }
const char *name4() const override { return "FOLL"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -830,7 +830,7 @@ class ModeSimple : public Mode
{
public:

uint32_t mode_number() const override { return SIMPLE; }
Number mode_number() const override { return Number::SIMPLE; }
const char *name4() const override { return "SMPL"; }

// methods that affect movement of the vehicle in this mode
Expand Down Expand Up @@ -860,7 +860,7 @@ class ModeDock : public Mode
// Does not allow copies
CLASS_NO_COPY(ModeDock);

uint32_t mode_number() const override { return DOCK; }
Number mode_number() const override { return Number::DOCK; }
const char *name4() const override { return "DOCK"; }

// methods that affect movement of the vehicle in this mode
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13 changes: 9 additions & 4 deletions Rover/system.cpp
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Expand Up @@ -281,7 +281,7 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
old_mode.exit();

control_mode_reason = reason;
logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
gcs().send_message(MSG_HEARTBEAT);

notify_mode(control_mode);
Expand All @@ -291,9 +291,14 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
bool Rover::set_mode(const uint8_t new_mode, ModeReason reason)
{
static_assert(sizeof(Mode::Number) == sizeof(new_mode), "The new mode can't be mapped to the vehicles mode number");
Mode *mode = rover.mode_from_mode_num((enum Mode::Number)new_mode);
return rover.set_mode(static_cast<Mode::Number>(new_mode), reason);
}

bool Rover::set_mode(Mode::Number new_mode, ModeReason reason)
{
Mode *mode = rover.mode_from_mode_num(new_mode);
if (mode == nullptr) {
notify_no_such_mode(new_mode);
notify_no_such_mode((uint8_t)new_mode);
return false;
}
return rover.set_mode(*mode, reason);
Expand All @@ -317,7 +322,7 @@ void Rover::startup_INS_ground(void)
void Rover::notify_mode(const Mode *mode)
{
AP_Notify::flags.autopilot_mode = mode->is_autopilot_mode();
notify.flags.flight_mode = mode->mode_number();
notify.flags.flight_mode = (uint8_t)mode->mode_number();
notify.set_flight_mode_str(mode->name4());
}

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