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global: Change the IF statement to a SWITCH statement #23061

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global: Change the IF statement to a SWITCH statement #23061

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b701942
mavlink: Change the IF statement to a SWITCH statement
muramura Apr 26, 2024
bdee94c
navigator: Change the IF statement to a SWITCH statement
muramura Apr 26, 2024
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14 changes: 10 additions & 4 deletions src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -765,13 +765,14 @@ void Mavlink::send_finish()
int ret = -1;

// send message to UART
if (get_protocol() == Protocol::SERIAL) {
switch (get_protocol()) {
case Protocol::SERIAL:
ret = ::write(_uart_fd, _buf, _buf_fill);
}
break;

#if defined(MAVLINK_UDP)

else if (get_protocol() == Protocol::UDP) {
case Protocol::UDP:

# if defined(CONFIG_NET)

Expand Down Expand Up @@ -805,10 +806,15 @@ void Mavlink::send_finish()
}
}
}
}

break;

#endif // MAVLINK_UDP

default:
break;
}

if (ret == (int)_buf_fill) {
_tstatus.tx_message_count++;
count_txbytes(_buf_fill);
Expand Down
46 changes: 32 additions & 14 deletions src/modules/navigator/geofence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -406,17 +406,25 @@ bool Geofence::checkPointAgainstPolygonCircle(const PolygonInfo &polygon, double
{
bool checksPass = true;

if (polygon.fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
switch (polygon.fence_type) {
case NAV_CMD_FENCE_CIRCLE_INCLUSION:
checksPass &= insideCircle(polygon, lat, lon, altitude);
break;

} else if (polygon.fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
case NAV_CMD_FENCE_CIRCLE_EXCLUSION:
checksPass &= !insideCircle(polygon, lat, lon, altitude);
break;

} else if (polygon.fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION:
checksPass &= insidePolygon(polygon, lat, lon, altitude);
break;

} else if (polygon.fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION:
checksPass &= !insidePolygon(polygon, lat, lon, altitude);
break;

default:
break;
}

return checksPass;
Expand Down Expand Up @@ -482,9 +490,14 @@ bool Geofence::insideCircle(const PolygonInfo &polygon, double lat, double lon,
return false;
}

if (circle_point.frame != NAV_FRAME_GLOBAL && circle_point.frame != NAV_FRAME_GLOBAL_INT
&& circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
&& circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
switch (circle_point.nav_cmd) {
case NAV_FRAME_GLOBAL:
case NAV_FRAME_GLOBAL_INT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT:
case NAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
break;

default:
// TODO: handle different frames
PX4_ERR("Frame type %i not supported", (int)circle_point.frame);
return false;
Expand Down Expand Up @@ -675,20 +688,25 @@ void Geofence::printStatus()
for (int i = 0; i < _num_polygons; ++i) {
total_num_vertices += _polygons[i].vertex_count;

if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
switch (_polygons[i].fence_type) {
case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION:
++num_inclusion_polygons;
}
break;

if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) {
case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION:
++num_exclusion_polygons;
}
break;

if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
case NAV_CMD_FENCE_CIRCLE_INCLUSION:
++num_inclusion_circles;
}
break;

if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
case NAV_CMD_FENCE_CIRCLE_EXCLUSION:
++num_exclusion_circles;
break;

default:
break;
}
}

Expand Down