diff options
Diffstat (limited to 'apps/commander/state_machine_helper.h')
-rw-r--r-- | apps/commander/state_machine_helper.h | 52 |
1 files changed, 28 insertions, 24 deletions
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h index 0abc6349c..540182e4f 100644 --- a/apps/commander/state_machine_helper.h +++ b/apps/commander/state_machine_helper.h @@ -4,7 +4,6 @@ * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * - * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: @@ -34,7 +33,10 @@ * ****************************************************************************/ -/* @file State machine helper functions definitions */ +/** + * @file state_machine_helper.h + * State machine helper functions definitions + */ #ifndef STATE_MACHINE_HELPER_H_ #define STATE_MACHINE_HELPER_H_ @@ -47,14 +49,13 @@ #include <v1.0/common/mavlink.h> -/* - * @brief switch to new state with no checking * +/** + * Switch to new state with no checking. * * do_state_update: this is the functions that all other functions have to call in order to update the state. * the function does not question the state change, this must be done before * The function performs actions that are connected with the new state (buzzer, reboot, ...) * - * */ void do_state_update(int status_pub, struct vehicle_status_s *current_status, commander_state_machine_t new_state); @@ -69,42 +70,45 @@ void do_state_update(int status_pub, struct vehicle_status_s *current_status, co // void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -/* - * @brief handle state machine if got position fix +/** + * Handle state machine if got position fix */ void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if position fix lost +/** + * Handle state machine if position fix lost */ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if user wants to arm +/** + * Handle state machine if user wants to arm */ void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if user wants to disarm +/** + * Handle state machine if user wants to disarm */ void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if mode switch is manual +/** + * Handle state machine if mode switch is manual */ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if mode switch is stabilized +/** + * Handle state machine if mode switch is stabilized */ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status); -/* - * @brief handle state machine if mode switch is auto +/** + * Handle state machine if mode switch is auto */ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status); - +/** + * Publish current state information + */ +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status); /* @@ -113,13 +117,13 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur * */ -/* - * @brief handles *incoming request* to switch to a specific state, if state change is successful returns 0 +/** + * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 */ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t mode); -/* - * @brief handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 +/** + * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 */ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, uint8_t custom_mode); |