ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / Soft / Common / control_states.h

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Common/control_states.h b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Common/control_states.h
new file mode 100644 (file)
index 0000000..360bc86
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Common/control_states.h
@@ -0,0 +1,191 @@
+/**
+ *  \file     control_states.h
+ *  \brief    Control states declaration for control loop & ihm display
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
+ *  \version  1.0
+ */
+
+#ifndef _CONTROL_STATES_H_
+#define _CONTROL_STATES_H_
+
+#ifdef CTRL_STATES_STRING
+typedef char ctrl_string_t[32];
+#endif
+
+// Macros to customize preprocessing
+// If this CTRL_STATES_STRING is not defined, this file declare several enumeration
+// If user defines CTRL_STATES_STRING, this file will define several array of strings.
+// Each string being equivalent to an enumeration entry
+
+#ifdef CTRL_STATES_STRING
+#define CVAR(a) #a  /* Using # causes the first argument after the # to be returned as a string in quotes */
+#define CVARZ(a) #a
+#else
+#define CVARZ(a) a = 0
+#define CVAR(a) a
+#endif
+
+/**
+ * \enum  CONTROL_STATE
+ * \brief control loop thread states.
+ * \brief this defines major states
+*/
+#ifndef DO_NOT_INCLUDE_MAJOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t ctrl_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( CTRL_DEFAULT ),
+  CVAR( CTRL_INIT ),
+  CVAR( CTRL_LANDED ),
+  CVAR( CTRL_FLYING ),
+  CVAR( CTRL_HOVERING ),
+  CVAR( CTRL_TEST ),
+  CVAR( CTRL_TRANS_TAKEOFF ),
+  CVAR( CTRL_TRANS_GOTOFIX ),
+  CVAR( CTRL_TRANS_LANDING ),
+#ifndef CTRL_STATES_STRING
+  CTRL_NUM_STATES
+} CTRL_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  FLYING_STATES
+ * \brief flying states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t flying_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( FLYING_OK ),
+  CVAR( FLYING_LOST_ALT ),
+  CVAR( FLYING_LOST_ALT_GO_DOWN ),
+  CVAR( FLYING_ALT_OUT_ZONE ),
+  CVAR( FLYING_COMBINED_YAW )
+  #ifndef CTRL_STATES_STRING
+} FLYING_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  HOVERING_STATES
+ * \brief flying states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t hovering_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( HOVERING_OK ),
+  CVAR( HOVERING_YAW ),
+  CVAR( HOVERING_YAW_LOST_ALT),
+  CVAR( HOVERING_YAW_LOST_ALT_GO_DOWN),
+  CVAR( HOVERING_ALT_OUT_ZONE),
+  CVAR( HOVERING_YAW_ALT_OUT_ZONE),
+  CVAR( HOVERING_LOST_ALT ),
+  CVAR( HOVERING_LOST_ALT_GO_DOWN ),
+  CVAR( HOVERING_LOST_COM ),
+  CVAR( LOST_COM_LOST_ALT ),
+  CVAR( LOST_COM_LOST_ALT_TOO_LONG ),
+  CVAR( LOST_COM_ALT_OK )
+#ifndef CTRL_STATES_STRING
+} HOVERING_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  TAKEOFF_TRANS_STATES
+ * \brief take off states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t takeoff_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( TAKEOFF_GROUND ),
+  CVAR( TAKEOFF_AUTO ),
+  #ifndef CTRL_STATES_STRING
+} TAKEOFF_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  GOTOFIX_TRANS_STATES
+ * \brief gotofix substates.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t gotofix_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( GOTOFIX_OK ),
+  CVAR( GOTOFIX_LOST_ALT ),
+  CVAR( GOTOFIX_YAW ),
+  #ifndef CTRL_STATES_STRING
+} GOTOFIX_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  LANDING_TRANS_STATES
+ * \brief landing states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t landing_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( LANDING_CLOSED_LOOP ),
+  CVAR( LANDING_OPEN_LOOP ),
+  CVAR( LANDING_OPEN_LOOP_FAST )
+#ifndef CTRL_STATES_STRING
+} LANDING_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+#ifdef CTRL_STATES_STRING
+#ifndef DO_NOT_INCLUDE_CTRL_STATES_LINK
+/**
+ * control link tates
+ * \brief This array is used to link minor states & major state's strings
+*/
+static ctrl_string_t* control_states_link[] = {
+  NULL,
+  NULL,
+  NULL,
+  flying_states,
+  hovering_states,
+  NULL,
+  takeoff_trans_states,
+  gotofix_trans_states,
+  landing_trans_states
+};
+#endif
+#endif
+
+#endif // _CONTROL_STATES_H_