FlightTasks_generated.cpp.em
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @@file FlightTasks_generated.cpp
*
* Generated file to switch between all required flight tasks
*
* @@author Christoph Tobler <christoph@@px4.io>
*/
#include "FlightModeManager.hpp"
#include "FlightTasks_generated.hpp"
int FlightModeManager::_initTask(FlightTaskIndex task_index)
{
// disable the old task if there is any
if (_current_task.task) {
_current_task.task->~FlightTask();
_current_task.task = nullptr;
_current_task.index = FlightTaskIndex::None;
}
switch (task_index) {
case FlightTaskIndex::None:
// already disabled task
break;
@# loop through all requested tasks
@[if tasks]@
@[for task in tasks]@
@{
firstLowercase = lambda s: s[:1].lower() + s[1:] if s else ''
}@
case FlightTaskIndex::@(task):
_current_task.task = new (&_task_union.@(firstLowercase(task))) FlightTask@(task)();
break;
@[end for]@
@[end if]@
default:
// invalid task
return 1;
}
// task construction succeeded
_current_task.index = task_index;
return 0;
}
FlightTaskIndex FlightModeManager::switchVehicleCommand(const int command)
{
switch (command) {
@# loop through all additional tasks
@[if tasks_add]@
@[for task in tasks_add]@
@{
upperCase = lambda s: s[:].upper() if s else ''
}@
case vehicle_command_s::VEHICLE_CMD_DO_@(upperCase(task)) :
return FlightTaskIndex::@(task);
break;
@[end for]@
@[end if]@
// ignore all unkown commands
default : return FlightTaskIndex::None;
}
}