一种Switch……case……优化方法

最新推荐文章于 2024-06-01 08:00:00 发布

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最新推荐文章于 2024-06-01 08:00:00 发布

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本文链接：https://blog.csdn.net/u014375643/article/details/122265268

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在我们编程写代码过程中，不免遇到Switch,case语句，针对短小精悍的处理，毫无问题，直接用就是了，但是遇到每个case都需要处理大量操作，那所在函数将会被塞的又臭又长，极其不利于阅读与维护，就像下面的例子：

void Inspection_Task_Manager::inspection_task_handler(void)
{

    switch (m_curr_task_node->state)
    {
    case Inspection_Task_Node_t::Init:
    {
        m_mach->m_led.led_set_state(LED_STATE_INSPECT, 1);
        if (m_curr_task_node == m_head)
        {
            //m_mach->push_ptz_status();
            m_mach->m_ptz.focus_auto(true);
            std::this_thread::sleep_for(std::chrono::milliseconds(30));

            set_light(default_light_mode);
        }

        LOG_INFO("Inspection Task [task_id:%d,point_id:%d] \r\n", m_task_id,
                 m_curr_task_node->point_id);
        if ((fabs(m_curr_task_node->position_x - m_mach->m_robot_position_x) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_y - m_mach->m_robot_position_y) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_theta - m_mach->m_robot_position_theta) <
             POSITION_MAX_DIFF))
        {
            m_curr_task_node->state = Inspection_Task_Node_t::PtzAction;
        }
        else
        {
            m_curr_task_node->state = Inspection_Task_Node_t::PtzReset;
        }
        m_curr_task_node->collect_seq = 1;
        m_curr_task_node->_time = std::chrono::steady_clock::now();
        m_curr_task_node->is_continue_inspect = false;
    }
    break;
    case Inspection_Task_Node_t::PtzReset:
        LOG_INFO("Inspection Task : ptz reset \r\n");
        m_mach->m_ptz.setPosition(m_default_hori_angle, m_default_vert_angle, m_default_zoom,
                                  m_default_focal);
        m_curr_task_node->state = Inspection_Task_Node_t::WaitPtzReset;
        LOG_INFO("Inspection Task : wait ptz reset finish \r\n");

        m_ptz_action_time = std::chrono::steady_clock::now();
        break;
    case Inspection_Task_Node_t::WaitPtzReset:
    {
        float horiz_angle = m_mach->m_ptz.getHorizAngle();
        float vert_angle = m_mach->m_ptz.getVertAngle();
        int zoom = m_mach->m_ptz.getCameraZoom();

        if (PtzDeamon::angle_diff(horiz_angle, m_default_hori_angle) < 0.5f &&
            PtzDeamon::angle_diff(vert_angle, m_default_vert_angle) < 0.5f &&
            abs(zoom - m_default_zoom) < 10)
        {
            m_curr_task_node->state = Inspection_Task_Node_t::Move;
            LOG_INFO("Inspection Task : ptz reset finish , ready to move \r\n");
        }
        {
            std::chrono::steady_clock::time_point curr_time = std::chrono::steady_clock::now();
            auto diff =
                std::chrono::duration_cast<std::chrono::seconds>(curr_time - m_ptz_action_time)
                    .count();
            if (diff > 30) //���������������Ȼû����������·���ָ��
            {
                m_curr_task_node->state = Inspection_Task_Node_t::PtzReset;
                LOG_INFO("Inspection Task : ptz reset action timeout , redo \r\n");
            }
        }
    }
    break;

    case Inspection_Task_Node_t::Move:
    {
        if ((fabs(m_curr_task_node->position_x - m_mach->m_robot_position_x) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_y - m_mach->m_robot_position_y) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_theta - m_mach->m_robot_position_theta) <
             POSITION_MAX_DIFF))
        {
            m_curr_task_node->state = Inspection_Task_Node_t::WaitArrive;
        }
        else
        {

            LOG_INFO("Inspection Task : move to position (%.3f,%.3f,%.3f), speed : %f \r\n",
                     m_curr_task_node->position_x, m_curr_task_node->position_y,
                     m_curr_task_node->position_theta, m_robot_speed);
            m_mach->slam_move_to_position(
                m_curr_task_node->point_id, m_curr_task_node->floor_location,
                m_curr_task_node->position_x, m_curr_task_node->position_y,
                m_curr_task_node->position_theta);
            //std::this_thread::sleep_for(std::chrono::milliseconds(200));
            m_curr_task_node->state = Inspection_Task_Node_t::WaitMove;
            log_timer = 0;
            LOG_INFO("Inspection Task : wait robot moving ,lifter status:%d\r\n", m_lifter_status);
        }
    }
    break;

    case Inspection_Task_Node_t::WaitMove:
        if (m_mach->m_slam_staus == NAVIGATE_TO_POSITION)
        {
            LOG_INFO("Inspection Task : robot moving,slam switch status to  NAVIGATE_TO_POSITION, "
                     "wait arrive.\r\n");
            m_curr_task_node->state = Inspection_Task_Node_t::WaitArrive;
        }

        if ((fabs(m_curr_task_node->position_x - m_mach->m_robot_position_x) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_y - m_mach->m_robot_position_y) < POSITION_MAX_DIFF) &&
            (fabs(m_curr_task_node->position_theta - m_mach->m_robot_position_theta) <
             POSITION_MAX_DIFF))
        {
            m_curr_task_node->state = Inspection_Task_Node_t::WaitArrive;
        }

        if (log_timer > 50)
        {
            log_timer = 0;
            LOG_INFO("Inspection Task : wait robot moving time out,now wait robot arrive.\r\n");
            m_curr_task_node->state = Inspection_Task_Node_t::WaitArrive;
        }

        break;

    case Inspection_Task_Node_t::WaitArrive:
    {
        if (m_mach->m_slam_staus == ARRIVED_POSITION)
        {

#if 0			
			if((fabs(m_curr_task_node->position_x - m_mach->m_robot_position_x) > POSITION_MAX_DIFF)  ||
				(fabs(m_curr_task_node->position_y - m_mach->m_robot_position_y) > POSITION_MAX_DIFF) ||
				(fabs(m_curr_task_node->position_theta - m_mach->m_robot_position_theta) > POSITION_MAX_DIFF) 			
			)
			{
				LOG_INFO("Inspection Task : robot has not arrived ,move again!  diff: x_diff = %.3f, y_diff = %.3f, theta_diff = %.3f \r\n",		  
						m_mach->m_robot_position_x - m_curr_task_node->position_x,
						m_mach->m_robot_position_y -  m_curr_task_node->position_y,
						m_mach->m_robot_position_theta - m_curr_task_node->position_theta);

				m_curr_task_node->state = Inspection_Task_Node_t::WaitMove;	
				m_mach->slam_move_to_position(m_curr_task_node->point_id,m_curr_task_node->position_x,m_curr_task_node->position_y,m_curr_task_node->position_theta);
		
			}
			else
#endif
            {
                LOG_INFO("Inspection Task : robot arrived,current position : x = %.3f,y = "
                         "%.3f,theta = "
                         "%.3f  point set position: x = %.3f,y = %.3f,theta = %.3f\r\n",
                         m_mach->m_robot_position_x, m_mach->m_robot_position_y,
                         m_mach->m_robot_position_theta, m_curr_task_node->position_x,
                         m_curr_task_node->position_y, m_curr_task_node->position_theta);

                LOG_INFO("Inspection Task : robot position diff: x_diff = %.3f, y_diff = %.3f, "
                         "theta_diff = %.3f \r\n",
                         m_mach->m_robot_position_x - m_curr_task_node->position_x,
                         m_mach->m_robot_position_y - m_curr_task_node->position_y,
                         m_mach->m_robot_position_theta - m_curr_task_node->position_theta);
                m_curr_task_node->state = Inspection_Task_Node_t::Arrived;
            }
        }
    }
    brea