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AP_Logger: tidy MessageWriter stages using enum class

master
Peter Barker 5 years ago committed by Andrew Tridgell
parent
880285dad4
commit
4d17a7cf89
2 changed files with 74 additions and 74 deletions
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  1. 88
      libraries/AP_Logger/LoggerMessageWriter.cpp
  2. 60
      libraries/AP_Logger/LoggerMessageWriter.h

88
libraries/AP_Logger/LoggerMessageWriter.cpp
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@ -25,7 +25,7 @@ void LoggerMessageWriter_DFLogStart::reset() @@ -25,7 +25,7 @@ void LoggerMessageWriter_DFLogStart::reset()
_writeentiremission.reset();
_writeallrallypoints.reset();
stage = ls_blockwriter_stage_formats;
stage = Stage::FORMATS;
next_format_to_send = 0;
_next_unit_to_send = 0;
_next_multiplier_to_send = 0;
@ -36,7 +36,7 @@ void LoggerMessageWriter_DFLogStart::reset() @@ -36,7 +36,7 @@ void LoggerMessageWriter_DFLogStart::reset()
void LoggerMessageWriter_DFLogStart::process()
{
switch(stage) {
case ls_blockwriter_stage_formats:
case Stage::FORMATS:
// write log formats so the log is self-describing
while (next_format_to_send < _logger_backend->num_types()) {
if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
@ -45,40 +45,40 @@ void LoggerMessageWriter_DFLogStart::process() @@ -45,40 +45,40 @@ void LoggerMessageWriter_DFLogStart::process()
next_format_to_send++;
}
_fmt_done = true;
stage = ls_blockwriter_stage_units;
stage = Stage::UNITS;
FALLTHROUGH;
case ls_blockwriter_stage_units:
case Stage::UNITS:
while (_next_unit_to_send < _logger_backend->num_units()) {
if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
return; // call me again!
}
_next_unit_to_send++;
}
stage = ls_blockwriter_stage_multipliers;
stage = Stage::MULTIPLIERS;
FALLTHROUGH;
case ls_blockwriter_stage_multipliers:
case Stage::MULTIPLIERS:
while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
return; // call me again!
}
_next_multiplier_to_send++;
}
stage = ls_blockwriter_stage_units;
stage = Stage::UNITS;
FALLTHROUGH;
case ls_blockwriter_stage_format_units:
case Stage::FORMAT_UNITS:
while (_next_format_unit_to_send < _logger_backend->num_types()) {
if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
return; // call me again!
}
_next_format_unit_to_send++;
}
stage = ls_blockwriter_stage_parms;
stage = Stage::PARMS;
FALLTHROUGH;
case ls_blockwriter_stage_parms:
case Stage::PARMS:
while (ap) {
if (!_logger_backend->Write_Parameter(ap, token, type)) {
return;
@ -86,34 +86,34 @@ void LoggerMessageWriter_DFLogStart::process() @@ -86,34 +86,34 @@ void LoggerMessageWriter_DFLogStart::process()
ap = AP_Param::next_scalar(&token, &type);
}
stage = ls_blockwriter_stage_sysinfo;
stage = Stage::SYSINFO;
FALLTHROUGH;
case ls_blockwriter_stage_sysinfo:
case Stage::SYSINFO:
_writesysinfo.process();
if (!_writesysinfo.finished()) {
return;
}
stage = ls_blockwriter_stage_write_entire_mission;
stage = Stage::WRITE_ENTIRE_MISSION;
FALLTHROUGH;
case ls_blockwriter_stage_write_entire_mission:
case Stage::WRITE_ENTIRE_MISSION:
_writeentiremission.process();
if (!_writeentiremission.finished()) {
return;
}
stage = ls_blockwriter_stage_write_all_rally_points;
stage = Stage::WRITE_ALL_RALLY_POINTS;
FALLTHROUGH;
case ls_blockwriter_stage_write_all_rally_points:
case Stage::WRITE_ALL_RALLY_POINTS:
_writeallrallypoints.process();
if (!_writeallrallypoints.finished()) {
return;
}
stage = ls_blockwriter_stage_vehicle_messages;
stage = Stage::VEHICLE_MESSAGES;
FALLTHROUGH;
case ls_blockwriter_stage_vehicle_messages:
case Stage::VEHICLE_MESSAGES:
// we guarantee 200 bytes of space for the vehicle startup
// messages. This allows them to be simple functions rather
// than e.g. LoggerMessageWriter-based state machines
@ -123,10 +123,10 @@ void LoggerMessageWriter_DFLogStart::process() @@ -123,10 +123,10 @@ void LoggerMessageWriter_DFLogStart::process()
}
(_logger_backend->vehicle_message_writer())();
}
stage = ls_blockwriter_stage_done;
stage = Stage::DONE;
FALLTHROUGH;
case ls_blockwriter_stage_done:
case Stage::DONE:
break;
}
@ -136,7 +136,7 @@ void LoggerMessageWriter_DFLogStart::process() @@ -136,7 +136,7 @@ void LoggerMessageWriter_DFLogStart::process()
void LoggerMessageWriter_WriteSysInfo::reset()
{
LoggerMessageWriter::reset();
stage = ws_blockwriter_stage_formats;
stage = Stage::FORMATS;
}
void LoggerMessageWriter_WriteSysInfo::process() {
@ -144,18 +144,18 @@ void LoggerMessageWriter_WriteSysInfo::process() { @@ -144,18 +144,18 @@ void LoggerMessageWriter_WriteSysInfo::process() {
switch(stage) {
case ws_blockwriter_stage_formats:
stage = ws_blockwriter_stage_firmware_string;
case Stage::FORMATS:
stage = Stage::FIRMWARE_STRING;
FALLTHROUGH;
case ws_blockwriter_stage_firmware_string:
case Stage::FIRMWARE_STRING:
if (! _logger_backend->Write_Message(fwver.fw_string)) {
return; // call me again
}
stage = ws_blockwriter_stage_git_versions;
stage = Stage::GIT_VERSIONS;
FALLTHROUGH;
case ws_blockwriter_stage_git_versions:
case Stage::GIT_VERSIONS:
if (fwver.middleware_name && fwver.os_name) {
if (! _logger_backend->Write_MessageF("%s: %s %s: %s",
fwver.middleware_name,
@ -171,27 +171,27 @@ void LoggerMessageWriter_WriteSysInfo::process() { @@ -171,27 +171,27 @@ void LoggerMessageWriter_WriteSysInfo::process() {
return; // call me again
}
}
stage = ws_blockwriter_stage_system_id;
stage = Stage::SYSTEM_ID;
FALLTHROUGH;
case ws_blockwriter_stage_system_id:
case Stage::SYSTEM_ID:
char sysid[40];
if (hal.util->get_system_id(sysid)) {
if (! _logger_backend->Write_Message(sysid)) {
return; // call me again
}
}
stage = ws_blockwriter_stage_param_space_used;
stage = Stage::PARAM_SPACE_USED;
FALLTHROUGH;
case ws_blockwriter_stage_param_space_used:
case Stage::PARAM_SPACE_USED:
if (! _logger_backend->Write_MessageF("Param space used: %u/%u", AP_Param::storage_used(), AP_Param::storage_size())) {
return; // call me again
}
stage = ws_blockwriter_stage_rc_protocol;
stage = Stage::RC_PROTOCOL;
FALLTHROUGH;
case ws_blockwriter_stage_rc_protocol:
case Stage::RC_PROTOCOL:
const char *prot = hal.rcin->protocol();
if (prot == nullptr) {
prot = "None";
@ -214,14 +214,14 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() @@ -214,14 +214,14 @@ void LoggerMessageWriter_WriteAllRallyPoints::process()
switch(stage) {
case ar_blockwriter_stage_write_new_rally_message:
case Stage::WRITE_NEW_RALLY_MESSAGE:
if (! _logger_backend->Write_Message("New rally")) {
return; // call me again
}
stage = ar_blockwriter_stage_write_all_rally_points;
stage = Stage::WRITE_ALL_RALLY_POINTS;
FALLTHROUGH;
case ar_blockwriter_stage_write_all_rally_points:
case Stage::WRITE_ALL_RALLY_POINTS:
while (_rally_number_to_send < _rally->get_rally_total()) {
RallyLocation rallypoint;
if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) {
@ -234,10 +234,10 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() @@ -234,10 +234,10 @@ void LoggerMessageWriter_WriteAllRallyPoints::process()
}
_rally_number_to_send++;
}
stage = ar_blockwriter_stage_done;
stage = Stage::DONE;
FALLTHROUGH;
case ar_blockwriter_stage_done:
case Stage::DONE:
break;
}
@ -247,7 +247,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() @@ -247,7 +247,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::process()
void LoggerMessageWriter_WriteAllRallyPoints::reset()
{
LoggerMessageWriter::reset();
stage = ar_blockwriter_stage_write_new_rally_message;
stage = Stage::WRITE_NEW_RALLY_MESSAGE;
_rally_number_to_send = 0;
}
@ -260,14 +260,14 @@ void LoggerMessageWriter_WriteEntireMission::process() { @@ -260,14 +260,14 @@ void LoggerMessageWriter_WriteEntireMission::process() {
switch(stage) {
case em_blockwriter_stage_write_new_mission_message:
case Stage::WRITE_NEW_MISSION_MESSAGE:
if (! _logger_backend->Write_Message("New mission")) {
return; // call me again
}
stage = em_blockwriter_stage_write_mission_items;
stage = Stage::WRITE_MISSION_ITEMS;
FALLTHROUGH;
case em_blockwriter_stage_write_mission_items: {
case Stage::WRITE_MISSION_ITEMS: {
AP_Mission::Mission_Command cmd;
while (_mission_number_to_send < _mission->num_commands()) {
// upon failure to write the mission we will re-read from
@ -279,11 +279,11 @@ void LoggerMessageWriter_WriteEntireMission::process() { @@ -279,11 +279,11 @@ void LoggerMessageWriter_WriteEntireMission::process() {
}
_mission_number_to_send++;
}
stage = em_blockwriter_stage_done;
stage = Stage::DONE;
FALLTHROUGH;
}
case em_blockwriter_stage_done:
case Stage::DONE:
break;
}
@ -293,6 +293,6 @@ void LoggerMessageWriter_WriteEntireMission::process() { @@ -293,6 +293,6 @@ void LoggerMessageWriter_WriteEntireMission::process() {
void LoggerMessageWriter_WriteEntireMission::reset()
{
LoggerMessageWriter::reset();
stage = em_blockwriter_stage_write_new_mission_message;
stage = Stage::WRITE_NEW_MISSION_MESSAGE;
_mission_number_to_send = 0;
}

60
libraries/AP_Logger/LoggerMessageWriter.h
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@ -26,15 +26,15 @@ public: @@ -26,15 +26,15 @@ public:
void process() override;
private:
enum write_sysinfo_blockwriter_stage : uint8_t {
ws_blockwriter_stage_formats = 0,
ws_blockwriter_stage_firmware_string,
ws_blockwriter_stage_git_versions,
ws_blockwriter_stage_system_id,
ws_blockwriter_stage_param_space_used,
ws_blockwriter_stage_rc_protocol
enum class Stage : uint8_t {
FORMATS = 0,
FIRMWARE_STRING,
GIT_VERSIONS,
SYSTEM_ID,
PARAM_SPACE_USED,
RC_PROTOCOL
};
write_sysinfo_blockwriter_stage stage;
Stage stage;
};
class LoggerMessageWriter_WriteEntireMission : public LoggerMessageWriter {
@ -44,14 +44,14 @@ public: @@ -44,14 +44,14 @@ public:
void process() override;
private:
enum entire_mission_blockwriter_stage {
em_blockwriter_stage_write_new_mission_message = 0,
em_blockwriter_stage_write_mission_items,
em_blockwriter_stage_done
enum Stage {
WRITE_NEW_MISSION_MESSAGE = 0,
WRITE_MISSION_ITEMS,
DONE
};
uint16_t _mission_number_to_send;
entire_mission_blockwriter_stage stage;
Stage stage;
};
class LoggerMessageWriter_WriteAllRallyPoints : public LoggerMessageWriter {
@ -61,14 +61,14 @@ public: @@ -61,14 +61,14 @@ public:
void process() override;
private:
enum all_rally_points_blockwriter_stage {
ar_blockwriter_stage_write_new_rally_message = 0,
ar_blockwriter_stage_write_all_rally_points,
ar_blockwriter_stage_done
enum Stage {
WRITE_NEW_RALLY_MESSAGE = 0,
WRITE_ALL_RALLY_POINTS,
DONE
};
uint16_t _rally_number_to_send;
all_rally_points_blockwriter_stage stage = ar_blockwriter_stage_write_new_rally_message;
Stage stage = Stage::WRITE_NEW_RALLY_MESSAGE;
};
class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
@ -93,22 +93,22 @@ public: @@ -93,22 +93,22 @@ public:
private:
enum log_start_blockwriter_stage {
ls_blockwriter_stage_formats = 0,
ls_blockwriter_stage_units,
ls_blockwriter_stage_multipliers,
ls_blockwriter_stage_format_units,
ls_blockwriter_stage_parms,
ls_blockwriter_stage_sysinfo,
ls_blockwriter_stage_write_entire_mission,
ls_blockwriter_stage_write_all_rally_points,
ls_blockwriter_stage_vehicle_messages,
ls_blockwriter_stage_done,
enum Stage {
FORMATS = 0,
UNITS,
MULTIPLIERS,
FORMAT_UNITS,
PARMS,
SYSINFO,
WRITE_ENTIRE_MISSION,
WRITE_ALL_RALLY_POINTS,
VEHICLE_MESSAGES,
DONE,
};
bool _fmt_done;
log_start_blockwriter_stage stage;
Stage stage;
uint16_t next_format_to_send;

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