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navigator: Change IF statement to SWITCH statement #23534

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merged 2 commits into from
Aug 14, 2024
Merged

navigator: Change IF statement to SWITCH statement #23534

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74897d5
navigator: Change IF statement to SWITCH statement
muramura Aug 12, 2024
6967cab
Update src/modules/navigator/geofence.cpp
bresch Aug 14, 2024
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62 changes: 44 additions & 18 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: // unknown fence type
break;
}

return checksPass;
Expand Down Expand Up @@ -452,12 +460,18 @@ bool Geofence::insidePolygon(const PolygonInfo &polygon, double lat, double lon,
break;
}

if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != NAV_FRAME_GLOBAL_INT
&& temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
&& temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
switch (temp_vertex_i.frame) {
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)temp_vertex_i.frame);
break;
return c;

}

if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
Expand All @@ -482,12 +496,18 @@ 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.frame) {
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;

}

if (!_projection_reference.isInitialized()) {
Expand Down Expand Up @@ -675,20 +695,26 @@ 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: // unknown fence type
break;

}
}

Expand Down
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