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[RFC] improve readability of time literals #9299

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merged 2 commits into from
Apr 14, 2018
Merged

[RFC] improve readability of time literals #9299

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09d63e8
drv_hrt: add user-defined integer literals for time constants
bkueng Apr 13, 2018
ab62496
land_detector: use user-defined literals for time constants
bkueng Apr 13, 2018
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30 changes: 30 additions & 0 deletions src/drivers/drv_hrt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -194,3 +194,33 @@ __EXPORT extern void hrt_stop_delay_delta(hrt_abstime delta);
#endif

__END_DECLS



#ifdef __cplusplus

namespace time_literals
{

// User-defined integer literals for different time units.
// The base unit is hrt_abstime in microseconds

constexpr hrt_abstime operator "" _s(unsigned long long seconds)
{
return hrt_abstime(seconds * 1000000ULL);
}

constexpr hrt_abstime operator "" _ms(unsigned long long seconds)
{
return hrt_abstime(seconds * 1000ULL);
}

constexpr hrt_abstime operator "" _us(unsigned long long seconds)
{
return hrt_abstime(seconds);
}

} /* namespace time_literals */


#endif /* __cplusplus */
7 changes: 5 additions & 2 deletions src/modules/land_detector/FixedwingLandDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,15 @@

#pragma once

#include <drivers/drv_hrt.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/vehicle_local_position.h>

#include "LandDetector.h"

using namespace time_literals;

namespace land_detector
{

Expand All @@ -67,8 +70,8 @@ class FixedwingLandDetector final : public LandDetector
private:

/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr uint64_t LANDED_TRIGGER_TIME_US = 2000000;
static constexpr uint64_t FLYING_TRIGGER_TIME_US = 0;
static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;

struct {
param_t maxVelocity;
Expand Down
6 changes: 4 additions & 2 deletions src/modules/land_detector/LandDetector.cpp
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Expand Up @@ -47,6 +47,8 @@
#include <drivers/drv_hrt.h>
#include "uORB/topics/parameter_update.h"

using namespace time_literals;

namespace land_detector
{

Expand Down Expand Up @@ -112,7 +114,7 @@ void LandDetector::_cycle()
const hrt_abstime now = hrt_absolute_time();

// publish at 1 Hz, very first time, or when the result has changed
if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1000000) ||
if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1_s) ||
(_landDetectedPub == nullptr) ||
(_landDetected.landed != landDetected) ||
(_landDetected.freefall != freefallDetected) ||
Expand Down Expand Up @@ -156,7 +158,7 @@ void LandDetector::_cycle()

// Schedule next cycle.
work_queue(HPWORK, &_work, (worker_t)&LandDetector::_cycle_trampoline, this,
USEC2TICK(1000000 / LAND_DETECTOR_UPDATE_RATE_HZ));
USEC2TICK(1_s / LAND_DETECTOR_UPDATE_RATE_HZ));

} else {
exit_and_cleanup();
Expand Down
9 changes: 4 additions & 5 deletions src/modules/land_detector/MulticopterLandDetector.cpp
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Expand Up @@ -62,7 +62,6 @@
*/

#include <cmath>
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>

#include "MulticopterLandDetector.h"
Expand Down Expand Up @@ -204,7 +203,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
bool MulticopterLandDetector::_get_maybe_landed_state()
{
// Time base for this function
const uint64_t now = hrt_absolute_time();
const hrt_abstime now = hrt_absolute_time();

// only trigger flight conditions if we are armed
if (!_arming.armed) {
Expand Down Expand Up @@ -240,7 +239,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
}

if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
Expand Down Expand Up @@ -293,7 +292,7 @@ float MulticopterLandDetector::_get_max_altitude()
bool MulticopterLandDetector::_has_altitude_lock()
{
return _vehicleLocalPosition.timestamp != 0 &&
hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500000 &&
hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500_ms &&
_vehicleLocalPosition.z_valid;
}

Expand All @@ -305,7 +304,7 @@ bool MulticopterLandDetector::_has_position_lock()
bool MulticopterLandDetector::_is_climb_rate_enabled()
{
bool has_updated = (_vehicleLocalPositionSetpoint.timestamp != 0)
&& (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500000);
&& (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500_ms);

return (_control_mode.flag_control_climb_rate_enabled && has_updated && PX4_ISFINITE(_vehicleLocalPositionSetpoint.vz));
}
Expand Down
15 changes: 9 additions & 6 deletions src/modules/land_detector/MulticopterLandDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@

#include "LandDetector.h"

#include <drivers/drv_hrt.h>
#include <systemlib/param/param.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
Expand All @@ -57,6 +58,8 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_local_position.h>

using namespace time_literals;

namespace land_detector
{

Expand All @@ -79,16 +82,16 @@ class MulticopterLandDetector : public LandDetector
private:

/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 300000;
static constexpr hrt_abstime LAND_DETECTOR_TRIGGER_TIME_US = 300_ms;

/** Time in us that almost landing conditions have to hold before triggering almost landed . */
static constexpr uint64_t MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250000;
static constexpr hrt_abstime MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms;

/** Time in us that ground contact condition have to hold before triggering contact ground */
static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 350000;
static constexpr hrt_abstime GROUND_CONTACT_TRIGGER_TIME_US = 350_ms;

/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr uint64_t LAND_DETECTOR_LAND_PHASE_TIME_US = 2000000;
static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;

/**
* @brief Handles for interesting parameters
Expand Down Expand Up @@ -137,8 +140,8 @@ class MulticopterLandDetector : public LandDetector
vehicle_control_mode_s _control_mode {};
battery_status_s _battery {};

uint64_t _min_trust_start{0}; ///< timestamp when minimum trust was applied first
uint64_t _landed_time{0};
hrt_abstime _min_trust_start{0}; ///< timestamp when minimum trust was applied first
hrt_abstime _landed_time{0};

/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
float _get_takeoff_throttle();
Expand Down