Rover: use enum-class for mission-done behaviours

ArduPilot · Jun 17, 2024 · 7003647 · 7003647
1 parent 136e76e
commit 7003647
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Showing 4 changed files with 28 additions and 17 deletions.
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
@@ -384,8 +384,10 @@ class ParametersG2 {
     // windvane
     AP_WindVane windvane;
 
+#if AP_MISSION_ENABLED
     // mission behave
-    AP_Int8 mis_done_behave;
+    AP_Enum<ModeAuto::DoneBehaviour> mis_done_behave;
+#endif
 
     // balance both pitch trim
     AP_Float bal_pitch_trim;

diff --git a/Rover/mode.h b/Rover/mode.h
@@ -282,11 +282,11 @@ class ModeAuto : public Mode
         FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&),
         FUNCTOR_BIND_MEMBER(&ModeAuto::exit_mission, void)};
 
-    enum Mis_Done_Behave {
-        MIS_DONE_BEHAVE_HOLD      = 0,
-        MIS_DONE_BEHAVE_LOITER    = 1,
-        MIS_DONE_BEHAVE_ACRO      = 2,
-        MIS_DONE_BEHAVE_MANUAL    = 3
+    enum class DoneBehaviour : uint8_t {
+        HOLD      = 0,
+        LOITER    = 1,
+        ACRO      = 2,
+        MANUAL    = 3,
     };
 
 protected:

diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
@@ -626,16 +626,25 @@ void ModeAuto::exit_mission()
     // send message
     gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
 
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) {
-        return;
-    }
-
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
-        return;
-    }
-
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_MANUAL && rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
-        return;
+    switch ((DoneBehaviour)g2.mis_done_behave) {
+    case DoneBehaviour::HOLD:
+        // the default "start_stop" behaviour is used
+        break;
+    case DoneBehaviour::LOITER:
+        if (start_loiter()) {
+            return;
+        }
+        break;
+    case DoneBehaviour::ACRO:
+        if (rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
+            return;
+        }
+        break;
+    case DoneBehaviour::MANUAL:
+        if (rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
+            return;
+        }
+        break;
     }
 
     start_stop();

diff --git a/Rover/system.cpp b/Rover/system.cpp
@@ -145,7 +145,7 @@ void Rover::init_ardupilot()
 
     // boat should loiter after completing a mission to avoid drifting off
     if (is_boat()) {
-        rover.g2.mis_done_behave.set_default(ModeAuto::Mis_Done_Behave::MIS_DONE_BEHAVE_LOITER);
+        rover.g2.mis_done_behave.set_default(uint8_t(ModeAuto::DoneBehaviour::LOITER));
     }
 
     // flag that initialisation has completed