Rover : class Mode : Add const attribute to some 'getter' member func…

…tion signatures.

Rover/mode.cpp

@@ -56,7 +56,7 @@ bool Mode::enter()
 // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
 // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
 // throttle_out is in the range -100 ~ +100
-void Mode::get_pilot_input(float &steering_out, float &throttle_out)
+void Mode::get_pilot_input(float &steering_out, float &throttle_out) const
 {
     // no RC input means no throttle and centered steering
     if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
@@ -102,7 +102,7 @@ void Mode::get_pilot_input(float &steering_out, float &throttle_out)
 // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
 // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
 // throttle_out is in the range -100 ~ +100
-void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out)
+void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const
 {
     // do basic conversion
     get_pilot_input(steering_out, throttle_out);
@@ -130,7 +130,7 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
 }
 
 // decode pilot steering and return steering_out and speed_out (in m/s)
-void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out)
+void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const
 {
     float desired_throttle;
     get_pilot_input(steering_out, desired_throttle);
@@ -146,7 +146,7 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
 }
 
 // decode pilot lateral movement input and return in lateral_out argument
-void Mode::get_pilot_desired_lateral(float &lateral_out)
+void Mode::get_pilot_desired_lateral(float &lateral_out) const
 {
     // no RC input means no lateral input
     if ((rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (rover.channel_lateral == nullptr)) {
@@ -159,7 +159,7 @@ void Mode::get_pilot_desired_lateral(float &lateral_out)
 }
 
 // decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
-void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out)
+void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const
 {
     // get steering and throttle in the -1 to +1 range
     float desired_steering = constrain_float(rover.channel_steer->norm_input_dz(), -1.0f, 1.0f);
@@ -183,7 +183,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
 
 // decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
 // outputs are in the range -1 to +1
-void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
+void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const
 {
     if (channel_roll != nullptr) {
         roll_out = channel_roll->norm_input();
@@ -199,7 +199,7 @@ void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
 
 // decode pilot walking_height inputs and return in walking_height_out arguments
 // outputs are in the range -1 to +1
-void Mode::get_pilot_desired_walking_height(float &walking_height_out)
+void Mode::get_pilot_desired_walking_height(float &walking_height_out) const
 {
     if (channel_walking_height != nullptr) {
         walking_height_out = channel_walking_height->norm_input();

Rover/mode.h

@@ -138,24 +138,24 @@ class Mode
     // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
     // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
     // throttle_out is in the range -100 ~ +100
-    void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out);
+    void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const;
 
     // decode pilot input steering and return steering_out and speed_out (in m/s)
-    void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out);
+    void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const;
 
     // decode pilot lateral movement input and return in lateral_out argument
-    void get_pilot_desired_lateral(float &lateral_out);
+    void get_pilot_desired_lateral(float &lateral_out) const;
 
     // decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
-    void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out);
+    void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const;
 
     // decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
     // outputs are in the range -1 to +1
-    void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out);
+    void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const;
 
     // decode pilot height inputs and return in height_out arguments
     // outputs are in the range -1 to +1
-    void get_pilot_desired_walking_height(float &walking_height_out);
+    void get_pilot_desired_walking_height(float &walking_height_out) const;
 
     // high level call to navigate to waypoint
     void navigate_to_waypoint();
@@ -192,7 +192,7 @@ class Mode
     // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
     // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
     // throttle_out is in the range -100 ~ +100
-    void get_pilot_input(float &steering_out, float &throttle_out);
+    void get_pilot_input(float &steering_out, float &throttle_out) const;
     void set_steering(float steering_value);
 
     // references to avoid code churn:
@@ -745,7 +745,7 @@ class ModeSmartRTL : public Mode
     bool _loitering;        // true if loitering at end of SRTL
 };
 
-   
+
 
 class ModeSteering : public Mode
 {