From 93126b2643860ecfd244847f4237342146048b09 Mon Sep 17 00:00:00 2001
From: muramura <ma2maru@gmail.com>
Date: Thu, 12 Sep 2024 00:01:12 +0900
Subject: [PATCH] Plane: Change AC_FENCE_ACTION to an ENUM

---
 ArduPlane/Parameters.cpp | 10 +++++-----
 ArduPlane/fence.cpp      | 30 +++++++++++++++++-------------
 2 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 40148509f714de..d29d94ded60521 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1463,22 +1463,22 @@ void Plane::load_parameters(void)
     if (AP_Param::find_old_parameter(&fence_action_info_old, &fence_action_old)) {
         enum ap_var_type ptype;
         AP_Int8 *fence_action_new = (AP_Int8*)AP_Param::find(&fence_action_info_old.new_name[0], &ptype);
-        uint8_t fence_action_new_val;
+        AC_FENCE_ACTION fence_action_new_val;
         if (fence_action_new && !fence_action_new->configured()) {
             switch(fence_action_old.get()) {
                 case 0: // FENCE_ACTION_NONE
                 case 2: // FENCE_ACTION_REPORT_ONLY
                 default:
-                    fence_action_new_val = AC_FENCE_ACTION_REPORT_ONLY;
+                    fence_action_new_val = AC_FENCE_ACTION::REPORT_ONLY;
                     break;
                 case 1: // FENCE_ACTION_GUIDED
-                    fence_action_new_val = AC_FENCE_ACTION_GUIDED;
+                    fence_action_new_val = AC_FENCE_ACTION::GUIDED;
                     break;
                 case 3: // FENCE_ACTION_GUIDED_THR_PASS
-                    fence_action_new_val = AC_FENCE_ACTION_GUIDED_THROTTLE_PASS;
+                    fence_action_new_val = AC_FENCE_ACTION::GUIDED_THROTTLE_PASS;
                     break;
                 case 4: // FENCE_ACTION_RTL
-                    fence_action_new_val = AC_FENCE_ACTION_RTL_AND_LAND;
+                    fence_action_new_val = AC_FENCE_ACTION::RTL_AND_LAND;
                     break;
             }
             fence_action_new->set_and_save((int8_t)fence_action_new_val);
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index 1890e709d25b0c..b408a43701cab7 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -38,10 +38,10 @@ void Plane::fence_check()
     if (!fence.enabled()) {
         // Switch back to the chosen control mode if still in
         // GUIDED to the return point
-        switch(fence.get_action()) {
-            case AC_FENCE_ACTION_GUIDED:
-            case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
-            case AC_FENCE_ACTION_RTL_AND_LAND:
+        switch(static_cast<AC_FENCE_ACTION>(fence.get_action())) {
+            case AC_FENCE_ACTION::GUIDED:
+            case AC_FENCE_ACTION::GUIDED_THROTTLE_PASS:
+            case AC_FENCE_ACTION::RTL_AND_LAND:
                 if (plane.control_mode_reason == ModeReason::FENCE_BREACHED &&
                     control_mode->is_guided_mode()) {
                     set_mode(*previous_mode, ModeReason::FENCE_RETURN_PREVIOUS_MODE);
@@ -76,14 +76,18 @@ void Plane::fence_check()
         fence.print_fence_message("breached", new_breaches);
 
         // if the user wants some kind of response and motors are armed
-        const uint8_t fence_act = fence.get_action();
+        const AC_FENCE_ACTION fence_act = static_cast<AC_FENCE_ACTION>(fence.get_action());
         switch (fence_act) {
-        case AC_FENCE_ACTION_REPORT_ONLY:
+        case AC_FENCE_ACTION::REPORT_ONLY:
+        case AC_FENCE_ACTION::ALWAYS_LAND:
+        case AC_FENCE_ACTION::SMART_RTL:
+        case AC_FENCE_ACTION::BRAKE:
+        case AC_FENCE_ACTION::SMART_RTL_OR_LAND:
             break;
-        case AC_FENCE_ACTION_GUIDED:
-        case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
-        case AC_FENCE_ACTION_RTL_AND_LAND:
-            if (fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
+        case AC_FENCE_ACTION::GUIDED:
+        case AC_FENCE_ACTION::GUIDED_THROTTLE_PASS:
+        case AC_FENCE_ACTION::RTL_AND_LAND:
+            if (fence_act == AC_FENCE_ACTION::RTL_AND_LAND) {
                 if (control_mode == &mode_auto &&
                     mission.get_in_landing_sequence_flag() &&
                     (g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START ||
@@ -97,7 +101,7 @@ void Plane::fence_check()
             }
 
             Location loc;
-            if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
+            if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION::RTL_AND_LAND) {
                 loc = calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());
             } else {
                 //return to fence return point, not a rally point
@@ -126,12 +130,12 @@ void Plane::fence_check()
                 }
             }
 
-            if (fence.get_action() != AC_FENCE_ACTION_RTL_AND_LAND) {
+            if (static_cast<AC_FENCE_ACTION>(fence.get_action()) != AC_FENCE_ACTION::RTL_AND_LAND) {
                 setup_terrain_target_alt(loc);
                 set_guided_WP(loc);
             }
 
-            if (fence.get_action() == AC_FENCE_ACTION_GUIDED_THROTTLE_PASS) {
+            if (static_cast<AC_FENCE_ACTION>(fence.get_action()) == AC_FENCE_ACTION::GUIDED_THROTTLE_PASS) {
                 guided_throttle_passthru = true;
             }
             break;