Fence: Change AC_FENCE_ACTION to an ENUM

muramura · Sep 12, 2024 · f4f02dd · f4f02dd
1 parent 88ed5a3
commit f4f02dd
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
@@ -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
@@ -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 (_action == uint8_t(AC_FENCE_ACTION::REPORT_ONLY)) {
  return false;
  }
  // Fence is only enabled when the flag is enabled

diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h
@@ -20,14 +20,16 @@
 #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
+enum class AC_FENCE_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
+};
 
 // 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