调整param和workq的命令空间

Signed-off-by: latercomer <[email protected]>
nextpilot · Sep 28, 2024 · 3c6f67f · 3c6f67f
1 parent 3dbc1e3
commit 3c6f67f
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Showing 137 changed files with 19,461 additions and 19,383 deletions.
diff --git a/apps/airframe/airframe.cpp b/apps/airframe/airframe.cpp
@@ -63,7 +63,7 @@ static airframe_info_t  __airframe_table__[100];
 static uint16_t         __airframe_count__ = UINT16_MAX;
 #endif
 
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 bool airframe_section_init() {
 #if defined(_MSC_VER)

diff --git a/apps/controller/commander/HealthAndArmingChecks/Common.hpp b/apps/controller/commander/HealthAndArmingChecks/Common.hpp
@@ -27,11 +27,11 @@
 // #define CONSOLE_PRINT_ARMING_CHECK_EVENT // for debugging, print updated events whenever they change
 
 #ifndef FRIEND_TEST // for gtest
-#define FRIEND_TEST(a, b)
+#   define FRIEND_TEST(a, b)
 #endif
 
 using namespace time_literals;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 using namespace nextpilot;
 
 class HealthAndArmingChecks;
@@ -85,6 +85,7 @@ class HealthComponentIndex {
     __attribute__((always_inline)) constexpr HealthComponentIndex(health_component_t component) :
         index(log2((uint64_t)component)) {
     }
+
     const uint8_t index;
 };
 
@@ -132,9 +133,9 @@ class Report {
             error      = {};
             warning    = {};
         }
+
         bool operator!=(const HealthResults &other) {
-            return is_present != other.is_present || error != other.error ||
-                   warning != other.warning;
+            return is_present != other.is_present || error != other.error || warning != other.warning;
         }
     };
 
@@ -149,7 +150,7 @@ class Report {
         NavModes can_arm; ///< whether arming is possible for each mode group (bitset)
         NavModes can_run; ///< whether switching into a certain mode is possible (while armed)
 
-        bool valid; ///< whether can_arm is valid, i.e. can be used
+        bool valid;       ///< whether can_arm is valid, i.e. can be used
 
         void reset() {
             error   = {};
@@ -158,15 +159,16 @@ class Report {
             can_run = (NavModes)-1;
             valid   = false;
         }
+
         bool operator!=(const ArmingCheckResults &other) {
-            return error != other.error || warning != other.warning ||
-                   can_arm != other.can_arm || can_run != other.can_run || valid != other.valid;
+            return error != other.error || warning != other.warning || can_arm != other.can_arm || can_run != other.can_run || valid != other.valid;
         }
     };
 
     Report(failsafe_flags_s &failsafe_flags, hrt_abstime min_reporting_interval = 2_s) :
         _min_reporting_interval(min_reporting_interval), _failsafe_flags(failsafe_flags) {
     }
+
     ~Report() = default;
 
     failsafe_flags_s &failsafeFlags() {
@@ -181,16 +183,14 @@ class Report {
      * Whether arming is possible for a given navigation mode
      */
     bool canArm(uint8_t nav_state) const {
-        return _results[_current_result].arming_checks.valid &&
-               (uint32_t)(_results[_current_result].arming_checks.can_arm & getModeGroup(nav_state)) != 0;
+        return _results[_current_result].arming_checks.valid && (uint32_t)(_results[_current_result].arming_checks.can_arm & getModeGroup(nav_state)) != 0;
     }
 
     /**
      * Whether a navigation mode can be run (while already armed)
      */
     bool canRun(uint8_t nav_state) const {
-        return _results[_current_result].arming_checks.valid &&
-               (uint32_t)(_results[_current_result].arming_checks.can_run & getModeGroup(nav_state)) != 0;
+        return _results[_current_result].arming_checks.valid && (uint32_t)(_results[_current_result].arming_checks.can_run & getModeGroup(nav_state)) != 0;
     }
 
     void getHealthReport(health_report_s &report) const;
@@ -235,6 +235,7 @@ class Report {
     const HealthResults &healthResults() const {
         return _results[_current_result].health;
     }
+
     const ArmingCheckResults &armingCheckResults() const {
         return _results[_current_result].arming_checks;
     }
@@ -268,8 +269,7 @@ class Report {
         }
 
         bool operator!=(const Results &other) {
-            return health != other.health || arming_checks != other.arming_checks ||
-                   num_events != other.num_events || event_id_hash != other.event_id_hash;
+            return health != other.health || arming_checks != other.arming_checks || num_events != other.num_events || event_id_hash != other.event_id_hash;
         }
     };
 
@@ -385,7 +385,7 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co
 class HealthAndArmingCheckBase : public ModuleParams {
 public:
     HealthAndArmingCheckBase() :
-        ModuleParams(nullptr){};
+        ModuleParams(nullptr) {};
     ~HealthAndArmingCheckBase() = default;
 
     virtual void checkAndReport(const Context &context, Report &reporter) = 0;

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/accelerometerCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/accelerometerCheck.hpp
@@ -17,7 +17,7 @@
 #include <sensor_calibration/Accelerometer.hpp>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class AccelerometerChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/airspeed_validated.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class AirspeedChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/baroCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/baroCheck.hpp
@@ -17,7 +17,7 @@
 #include <sensor_calibration/Barometer.hpp>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class BaroChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/batteryCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/batteryCheck.hpp
@@ -16,7 +16,7 @@
 #include <uORB/topics/rtl_time_estimate.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class BatteryChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/cpuload.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class CpuResourceChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/distanceSensorChecks.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/distanceSensorChecks.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/distance_sensor.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class DistanceSensorChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/escCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/escCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/esc_status.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class EscChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -25,7 +25,7 @@
 
 using namespace time_literals;
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class EstimatorChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp
@@ -13,7 +13,7 @@
 #include "../Common.hpp"
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class FlightTimeChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/magnetometerCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/magnetometerCheck.hpp
@@ -17,7 +17,7 @@
 #include <uORB/topics/estimator_status.h>
 #include <sensor_calibration/Magnetometer.hpp>
 
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class MagnetometerChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/modeCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/modeCheck.hpp
@@ -14,7 +14,7 @@
 #include <uORB/Subscription.hpp>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class ModeChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/offboardCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/offboardCheck.hpp
@@ -14,7 +14,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/offboard_control_mode.h>
 
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 using namespace nextpilot;
 
 class OffboardChecks : public HealthAndArmingCheckBase {

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/parachuteCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/parachuteCheck.hpp
@@ -13,7 +13,7 @@
 #include "../Common.hpp"
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class ParachuteChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/powerCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/powerCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/system_power.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class PowerChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class RcAndDataLinkChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/input_rc.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class RcCalibrationChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/sdcardCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/sdcardCheck.hpp
@@ -13,7 +13,7 @@
 #include "../Common.hpp"
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class SdCardChecks : public HealthAndArmingCheckBase {
 public:
@@ -26,10 +26,10 @@ class SdCardChecks : public HealthAndArmingCheckBase {
 #ifdef PX4_STORAGEDIR
     bool _sdcard_detected{false};
 
-#ifdef __PX4_NUTTX
+#   ifdef __PX4_NUTTX
     bool _hardfault_checked_once{false};
     bool _hardfault_file_present{false};
-#endif
+#   endif
 #endif
 
     DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/systemCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/systemCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/actuator_armed.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class SystemChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/vtolCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/vtolCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/vtol_vehicle_status.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class VtolChecks : public HealthAndArmingCheckBase {
 public:

diff --git a/apps/controller/commander/HealthAndArmingChecks/checks/windCheck.hpp b/apps/controller/commander/HealthAndArmingChecks/checks/windCheck.hpp
@@ -15,7 +15,7 @@
 #include <uORB/topics/wind.h>
 
 using namespace nextpilot;
-using namespace nextpilot::global_params;
+using namespace nextpilot::param;
 
 class WindChecks : public HealthAndArmingCheckBase {
 public: