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Fence: Change AC_FENCE_ACTION to an enum #28081

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Fence: Change AC_FENCE_ACTION to an enum #28081

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3ce84d8
Copter: Change AC_FENCE_ACTION to an ENUM
muramura Sep 11, 2024
c060ba8
Plane: Change AC_FENCE_ACTION to an ENUM
muramura Sep 11, 2024
2d1bc16
Sub: Change AC_FENCE_ACTION to an ENUM
muramura Sep 11, 2024
043d7ad
AC_Fence: Change AC_FENCE_ACTION to an ENUM
muramura Sep 11, 2024
2a7c15e
autotest: Change AC_FENCE_ACTION to an ENUM
muramura Sep 12, 2024
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14 changes: 7 additions & 7 deletions ArduCopter/fence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,8 @@ void Copter::fence_check()
}

// 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());

if (fence_act != AC_Fence::Action::REPORT_ONLY ) {

// disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
Expand All @@ -45,32 +45,32 @@ void Copter::fence_check()
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
} else {
switch (fence_act) {
case AC_FENCE_ACTION_RTL_AND_LAND:
case AC_Fence::Action::RTL_AND_LAND:
default:
// switch to RTL, if that fails then Land
if (!set_mode(Mode::Number::RTL, ModeReason::FENCE_BREACHED)) {
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
}
break;
case AC_FENCE_ACTION_ALWAYS_LAND:
case AC_Fence::Action::ALWAYS_LAND:
// if always land option mode is specified, land
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
break;
case AC_FENCE_ACTION_SMART_RTL:
case AC_Fence::Action::SMART_RTL:
// Try SmartRTL, if that fails, RTL, if that fails Land
if (!set_mode(Mode::Number::SMART_RTL, ModeReason::FENCE_BREACHED)) {
if (!set_mode(Mode::Number::RTL, ModeReason::FENCE_BREACHED)) {
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
}
}
break;
case AC_FENCE_ACTION_BRAKE:
case AC_Fence::Action::BRAKE:
// Try Brake, if that fails Land
if (!set_mode(Mode::Number::BRAKE, ModeReason::FENCE_BREACHED)) {
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
}
break;
case AC_FENCE_ACTION_SMART_RTL_OR_LAND:
case AC_Fence::Action::SMART_RTL_OR_LAND:
// Try SmartRTL, if that fails, Land
if (!set_mode(Mode::Number::SMART_RTL, ModeReason::FENCE_BREACHED)) {
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
Expand Down
2 changes: 1 addition & 1 deletion ArduCopter/mode.cpp
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Expand Up @@ -385,7 +385,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
#endif

#if AP_FENCE_ENABLED
if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
if (static_cast<AC_Fence::Action>(fence.get_action()) != AC_Fence::Action::REPORT_ONLY) {
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
Expand Down
10 changes: 5 additions & 5 deletions ArduPlane/Parameters.cpp
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Expand Up @@ -1463,22 +1463,22 @@ void Plane::load_parameters(void)
if (AP_Param::find_old_parameter(&fence_action_info_old, &fence_action_old)) {
enum ap_var_type ptype;
AP_Int8 *fence_action_new = (AP_Int8*)AP_Param::find(&fence_action_info_old.new_name[0], &ptype);
uint8_t fence_action_new_val;
AC_Fence::Action fence_action_new_val;
if (fence_action_new && !fence_action_new->configured()) {
switch(fence_action_old.get()) {
case 0: // FENCE_ACTION_NONE
case 2: // FENCE_ACTION_REPORT_ONLY
default:
fence_action_new_val = AC_FENCE_ACTION_REPORT_ONLY;
fence_action_new_val = AC_Fence::Action::REPORT_ONLY;
break;
case 1: // FENCE_ACTION_GUIDED
fence_action_new_val = AC_FENCE_ACTION_GUIDED;
fence_action_new_val = AC_Fence::Action::GUIDED;
break;
case 3: // FENCE_ACTION_GUIDED_THR_PASS
fence_action_new_val = AC_FENCE_ACTION_GUIDED_THROTTLE_PASS;
fence_action_new_val = AC_Fence::Action::GUIDED_THROTTLE_PASS;
break;
case 4: // FENCE_ACTION_RTL
fence_action_new_val = AC_FENCE_ACTION_RTL_AND_LAND;
fence_action_new_val = AC_Fence::Action::RTL_AND_LAND;
break;
}
fence_action_new->set_and_save((int8_t)fence_action_new_val);
Expand Down
30 changes: 17 additions & 13 deletions ArduPlane/fence.cpp
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Expand Up @@ -38,10 +38,10 @@ void Plane::fence_check()
if (!fence.enabled()) {
// Switch back to the chosen control mode if still in
// GUIDED to the return point
switch(fence.get_action()) {
case AC_FENCE_ACTION_GUIDED:
case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
case AC_FENCE_ACTION_RTL_AND_LAND:
switch(static_cast<AC_Fence::Action>(fence.get_action())) {
case AC_Fence::Action::GUIDED:
case AC_Fence::Action::GUIDED_THROTTLE_PASS:
case AC_Fence::Action::RTL_AND_LAND:
if (plane.control_mode_reason == ModeReason::FENCE_BREACHED &&
control_mode->is_guided_mode()) {
set_mode(*previous_mode, ModeReason::FENCE_RETURN_PREVIOUS_MODE);
Expand Down Expand Up @@ -76,14 +76,18 @@ void Plane::fence_check()
fence.print_fence_message("breached", new_breaches);

// 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?

switch (fence_act) {
case AC_FENCE_ACTION_REPORT_ONLY:
case AC_Fence::Action::REPORT_ONLY:
case AC_Fence::Action::ALWAYS_LAND:
case AC_Fence::Action::SMART_RTL:
case AC_Fence::Action::BRAKE:
case AC_Fence::Action::SMART_RTL_OR_LAND:
break;
case AC_FENCE_ACTION_GUIDED:
case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
case AC_FENCE_ACTION_RTL_AND_LAND:
if (fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
case AC_Fence::Action::GUIDED:
case AC_Fence::Action::GUIDED_THROTTLE_PASS:
case AC_Fence::Action::RTL_AND_LAND:
if (fence_act == AC_Fence::Action::RTL_AND_LAND) {
if (control_mode == &mode_auto &&
mission.get_in_landing_sequence_flag() &&
(g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START ||
Expand All @@ -97,7 +101,7 @@ void Plane::fence_check()
}

Location loc;
if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
if (fence.get_return_rally() != 0 || fence_act == AC_Fence::Action::RTL_AND_LAND) {
loc = calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());
} else {
//return to fence return point, not a rally point
Expand Down Expand Up @@ -126,12 +130,12 @@ void Plane::fence_check()
}
}

if (fence.get_action() != AC_FENCE_ACTION_RTL_AND_LAND) {
if (static_cast<AC_Fence::Action>(fence.get_action()) != AC_Fence::Action::RTL_AND_LAND) {
setup_terrain_target_alt(loc);
set_guided_WP(loc);
}

if (fence.get_action() == AC_FENCE_ACTION_GUIDED_THROTTLE_PASS) {
if (static_cast<AC_Fence::Action>(fence.get_action()) == AC_Fence::Action::GUIDED_THROTTLE_PASS) {
guided_throttle_passthru = true;
}
break;
Expand Down
2 changes: 1 addition & 1 deletion ArduSub/fence.cpp
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Expand Up @@ -22,7 +22,7 @@ void Sub::fence_check()
if (new_breaches) {

// if the user wants some kind of response and motors are armed
if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
if (static_cast<AC_Fence::Action>(fence.get_action()) != AC_Fence::Action::REPORT_ONLY) {
//
// // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
Expand Down
4 changes: 2 additions & 2 deletions Tools/autotest/arduplane.py
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Expand Up @@ -1523,7 +1523,7 @@ def FenceStatic(self):
# test a rather unfortunate behaviour:
self.progress("Killing a live fence with fence-clear")
self.load_fence("CMAC-fence.txt")
self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
self.set_parameter("FENCE_ACTION", 1) # AC_Fence::Action::RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
self.do_fence_enable()
self.assert_fence_sys_status(True, True, True)
self.clear_fence()
Expand Down Expand Up @@ -1602,7 +1602,7 @@ def test_fence_breach_circle_at(self, loc, disable_on_breach=False):
self.set_parameters({
"RTL_RADIUS": want_radius,
"NAVL1_LIM_BANK": 60,
"FENCE_ACTION": 1, # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
"FENCE_ACTION": 1, # AC_Fence::Action::RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
})

self.wait_ready_to_arm() # need an origin to load fence
Expand Down
4 changes: 2 additions & 2 deletions libraries/AC_Fence/AC_Fence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Values{Plane}: 0:Report Only,1:RTL,6:Guided,7:GuidedThrottlePass
// @Values: 0:Report Only,1:RTL or Land
// @User: Standard
AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND),
AP_GROUPINFO("ACTION", 2, AC_Fence, _action, static_cast<uint8_t>(AC_Fence::Action::RTL_AND_LAND)),

// @Param{Copter, Plane, Sub}: ALT_MAX
// @DisplayName: Fence Maximum Altitude
Expand Down Expand Up @@ -878,7 +878,7 @@ bool AC_Fence::sys_status_enabled() const
if (!sys_status_present()) {
return false;
}
if (_action == AC_FENCE_ACTION_REPORT_ONLY) {
if (static_cast<AC_Fence::Action>(static_cast<uint8_t>(_action)) == AC_Fence::Action::REPORT_ONLY) {
return false;
}
// Fence is only enabled when the flag is enabled
Expand Down
23 changes: 13 additions & 10 deletions libraries/AC_Fence/AC_Fence.h
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Expand Up @@ -19,16 +19,6 @@
#define AC_FENCE_ARMING_FENCES (AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)
#define AC_FENCE_ALL_FENCES (AC_FENCE_ARMING_FENCES | AC_FENCE_TYPE_ALT_MIN)

// valid actions should a fence be breached
#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land
#define AC_FENCE_ACTION_SMART_RTL 3 // smartRTL, if that fails, RTL, it that still fails, land
#define AC_FENCE_ACTION_BRAKE 4 // brake, if that fails, land
#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

// give up distance
#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code

Expand All @@ -52,6 +42,19 @@ class AC_Fence
DISABLE_ALT_MIN_FENCE = 2
};

// valid actions should a fence be breached
enum class Action : uint8_t
{
REPORT_ONLY = 0, // report to GCS that boundary has been breached but take no further action
RTL_AND_LAND = 1, // return to launch and, if that fails, land
ALWAYS_LAND = 2, // always land
SMART_RTL = 3, // smartRTL, if that fails, RTL, it that still fails, land
BRAKE = 4, // brake, if that fails, land
SMART_RTL_OR_LAND = 5, // SmartRTL, if that fails, Land
GUIDED = 6, // guided mode, with target waypoint as fence return point
GUIDED_THROTTLE_PASS = 7, // guided mode, but pilot retains manual throttle control
};

AC_Fence();

/* Do not allow copies */
Expand Down
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