refactor commander: remove unused argument is_armed in Report class

PX4 · Nov 20, 2024 · 921cd8a · 921cd8a
1 parent cad4d14
commit 921cd8a
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp
@@ -219,7 +219,7 @@ bool Report::finalize()
 	return _results_changed;
 }
 
-bool Report::report(bool is_armed, bool force)
+bool Report::report(bool force)
 {
 	const hrt_abstime now = hrt_absolute_time();
 	const bool has_difference = _had_unreported_difference || _results_changed;
@@ -318,10 +318,10 @@ bool Report::report(bool is_armed, bool force)
 	return true;
 }
 
-bool Report::reportIfUnreportedDifferences(bool is_armed)
+bool Report::reportIfUnreportedDifferences()
 {
 	if (_had_unreported_difference) {
-		return report(is_armed, true);
+		return report(true);
 	}
 
 	return false;

diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp
@@ -337,12 +337,12 @@ class Report
 	 */
 	bool finalize();
 
-	bool report(bool is_armed, bool force);
+	bool report(bool force);
 
 	/**
 	 * Send out any unreported changes if there are any
 	 */
-	bool reportIfUnreportedDifferences(bool is_armed);
+	bool reportIfUnreportedDifferences();
 
 	const hrt_abstime _min_reporting_interval;
 

diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
@@ -67,7 +67,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
 	}
 
 	const bool results_changed = _reporter.finalize();
-	const bool reported = _reporter.report(_context.isArmed(), force_reporting);
+	const bool reported = _reporter.report(force_reporting);
 
 	if (reported) {
 
@@ -89,7 +89,7 @@ bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
 		}
 
 		_reporter.finalize();
-		_reporter.report(_context.isArmed(), false);
+		_reporter.report(false);
 		_reporter._mavlink_log_pub = nullptr;
 		// LEGACY end
 
@@ -123,5 +123,5 @@ void HealthAndArmingChecks::updateParams()
 
 bool HealthAndArmingChecks::reportIfUnreportedDifferences()
 {
-	return _reporter.reportIfUnreportedDifferences(_context.isArmed());
+	return _reporter.reportIfUnreportedDifferences();
 }
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp
@@ -69,7 +69,7 @@ TEST_F(ReporterTest, basic_no_checks)
 
 	reporter.reset();
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 	ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, 0xff);
@@ -92,7 +92,7 @@ TEST_F(ReporterTest, basic_fail_all_modes)
 		reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
 					    events::ID("arming_test_basic_fail_all_modes_fail1"), events::Log::Info, "");
 		reporter.finalize();
-		reporter.report(false, false);
+		reporter.report(false);
 
 		ASSERT_FALSE(reporter.canArm(nav_state));
 		ASSERT_TRUE(reporter.canRun(nav_state));
@@ -113,7 +113,7 @@ TEST_F(ReporterTest, arming_checks_mode_category)
 			       events::ID("arming_test_arming_checks_mode_category_fail2"), events::Log::Info, "");
 	reporter.setIsPresent(health_component_t::battery);
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 	ASSERT_TRUE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
@@ -138,7 +138,7 @@ TEST_F(ReporterTest, arming_checks_mode_category2)
 	reporter.healthFailure(NavModes::Mission, health_component_t::remote_control,
 			       events::ID("arming_test_arming_checks_mode_category2_fail1"), events::Log::Warning, "");
 	reporter.finalize();
-	reporter.report(false, false);
+	reporter.report(false);
 
 	ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
 
@@ -178,7 +178,7 @@ TEST_F(ReporterTest, reporting)
 			}
 
 			reporter.finalize();
-			reporter.report(false, false);
+			reporter.report(false);
 			ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 			if (i == 0) {
@@ -219,7 +219,7 @@ TEST_F(ReporterTest, reporting)
 			}
 
 			reporter.finalize();
-			reporter.report(false, false);
+			reporter.report(false);
 			ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 			if (i == 0) {
@@ -265,7 +265,7 @@ TEST_F(ReporterTest, reporting_multiple)
 		reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::remote_control,
 						     events::ID("arming_test_reporting_multiple_fail3"), events::Log::Warning, "", 55);
 		reporter.finalize();
-		reporter.report(false, false);
+		reporter.report(false);
 		ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
 
 		if (i == 0) {