Mixers: use key list to select multirotor mixer

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -100,7 +100,7 @@ MultirotorMixer::~MultirotorMixer()
 MultirotorMixer *
 MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
 {
-	MultirotorGeometry geometry;
+	MultirotorGeometry geometry = MultirotorGeometry::MAX_GEOMETRY;
 	char geomname[8];
 	int s[4];
 	int used;
@@ -129,61 +129,15 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 
 	debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
 
-	if (!strcmp(geomname, "4+")) {
-		geometry = MultirotorGeometry::QUAD_PLUS;
-
-	} else if (!strcmp(geomname, "4x")) {
-		geometry = MultirotorGeometry::QUAD_X;
-
-	} else if (!strcmp(geomname, "4h")) {
-		geometry = MultirotorGeometry::QUAD_H;
-
-	} else if (!strcmp(geomname, "4v")) {
-		geometry = MultirotorGeometry::QUAD_V;
-
-	} else if (!strcmp(geomname, "4w")) {
-		geometry = MultirotorGeometry::QUAD_WIDE;
-
-	} else if (!strcmp(geomname, "4s")) {
-		geometry = MultirotorGeometry::QUAD_S250AQ;
-
-	} else if (!strcmp(geomname, "4dc")) {
-		geometry = MultirotorGeometry::QUAD_DEADCAT;
-
-	} else if (!strcmp(geomname, "6+")) {
-		geometry = MultirotorGeometry::HEX_PLUS;
-
-	} else if (!strcmp(geomname, "6x")) {
-		geometry = MultirotorGeometry::HEX_X;
-
-	} else if (!strcmp(geomname, "6c")) {
-		geometry = MultirotorGeometry::HEX_COX;
-
-	} else if (!strcmp(geomname, "6t")) {
-		geometry = MultirotorGeometry::HEX_T;
-
-	} else if (!strcmp(geomname, "8+")) {
-		geometry = MultirotorGeometry::OCTA_PLUS;
-
-	} else if (!strcmp(geomname, "8x")) {
-		geometry = MultirotorGeometry::OCTA_X;
-
-	} else if (!strcmp(geomname, "8c")) {
-		geometry = MultirotorGeometry::OCTA_COX;
-
-	} else if (!strcmp(geomname, "6m")) {
-		geometry = MultirotorGeometry::DODECA_TOP_COX;
-
-	} else if (!strcmp(geomname, "6a")) {
-		geometry = MultirotorGeometry::DODECA_BOTTOM_COX;
-
-	} else if (!strcmp(geomname, "2-")) {
-		geometry = MultirotorGeometry::TWIN_ENGINE;
-
-	} else if (!strcmp(geomname, "3y")) {
-		geometry = MultirotorGeometry::TRI_Y;
+	for (MultirotorGeometryUnderlyingType i = 0; i < (MultirotorGeometryUnderlyingType)MultirotorGeometry::MAX_GEOMETRY;
+	     i++) {
+		if (!strcmp(geomname, _config_key[i])) {
+			geometry = (MultirotorGeometry)i;
+			break;
+		}
+	}
 
-	} else {
+	if (geometry == MultirotorGeometry::MAX_GEOMETRY) {
 		debug("unrecognised geometry '%s'", geomname);
 		return nullptr;
 	}

src/modules/systemlib/mixer/multi_tables.py

@@ -213,7 +213,16 @@ dodeca_bottom_cox = [
     [-150, CCW],
 ]
 
-tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y, dodeca_top_cox, dodeca_bottom_cox]
+tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat,
+          hex_x, hex_plus, hex_cox, hex_t,
+          octa_x, octa_plus, octa_cox, octa_cox_wide,
+          twin_engine, tri_y,
+          dodeca_top_cox, dodeca_bottom_cox]
+keys   = ["4x", "4h", "4+", "4v", "4w", "4s", "4dc",
+          "6x", "6+", "6c", "6t",
+          "8x", "8+", "8c", "8cw",
+          "2-", "3y",
+          "6m", "6a"]
 
 def variableName(variable):
     for variableName, value in list(globals().items()):
@@ -256,7 +265,11 @@ def printScaleTablesCounts():
         print("\t{}, /* {} */".format(len(table), variableName(table)))
     print("};\n")
 
-
+def printScaleTablesKeys():
+    print("const char* _config_key[] = {")
+    for key, table in zip(keys, tables):
+        print("\t\"{}\",\t/* {} */".format(key, variableName(table)))
+    print("};\n")
 
 printEnum()
 
@@ -264,6 +277,7 @@ print("namespace {")
 printScaleTables()
 printScaleTablesIndex()
 printScaleTablesCounts()
+printScaleTablesKeys()
 
 print("} // anonymous namespace\n")
 print("#endif /* _MIXER_MULTI_TABLES */")