Fence: Change AC_FENCE_ACTION to an enum #28081
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muramura
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peterbarker
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Sep 12, 2024
libraries/AC_Fence/AC_Fence.h
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| #define AC_FENCE_ACTION_SMART_RTL_OR_LAND 5 // SmartRTL, if that fails, Land | ||
| #define AC_FENCE_ACTION_GUIDED 6 // guided mode, with target waypoint as fence return point | ||
| #define AC_FENCE_ACTION_GUIDED_THROTTLE_PASS 7 // guided mode, but pilot retains manual throttle control | ||
| enum class AC_FENCE_ACTION : uint8_t { |
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Move this into the fence class, and rename it to Action.
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I like this kind of PR. Any motive for mixing of c-style cast and static cast? |
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@Ryanf55 san. I changed it to static_cast. |
Ryanf55
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peterbarker
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Sep 14, 2024
| @@ -30,8 +30,8 @@ void Copter::fence_check() | |||
| } | |||
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| // if the user wants some kind of response and motors are armed | |||
| uint8_t fence_act = fence.get_action(); | |||
| if (fence_act != AC_FENCE_ACTION_REPORT_ONLY ) { | |||
| AC_Fence::Action fence_act = static_cast<AC_Fence::Action>(fence.get_action()); | |||
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Suggested change
| AC_Fence::Action fence_act = static_cast<AC_Fence::Action>(fence.get_action()); | |
| const AC_Fence::Action fence_act = static_cast<AC_Fence::Action>(fence.get_action()); |
| @@ -76,14 +76,18 @@ void Plane::fence_check() | |||
| fence.print_fence_message("breached", new_breaches); | |||
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| // if the user wants some kind of response and motors are armed | |||
| const uint8_t fence_act = fence.get_action(); | |||
| const AC_Fence::Action fence_act = static_cast<AC_Fence::Action>(fence.get_action()); | |||
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Why does this need a static cast? Similar question elsewhere.
Surely get_action should return an AC_Fence::Action now?
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Ping @muramura don't forget this one |
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Change AC_FENCE_ACTION to an ENUM.
Using an ENUM allows for grouping actions.
I believe using an ENUM is better than indicating groups with define names.