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AP_Mount: Xacti uses GCS_SEND_TEXT

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Randy Mackay 2023-10-02 19:54:30 +09:00 committed by Andrew Tridgell
parent 288f7b5650
commit 046cf5630e
1 changed files with 24 additions and 24 deletions
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48
libraries/AP_Mount/AP_Mount_Xacti.cpp
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@ -47,7 +47,7 @@ void AP_Mount_Xacti::init()
// instantiate parameter queue, return on failure so init fails // instantiate parameter queue, return on failure so init fails
_set_param_int32_queue = new ObjectArray<SetParamQueueItem>(XACTI_SET_PARAM_QUEUE_SIZE); _set_param_int32_queue = new ObjectArray<SetParamQueueItem>(XACTI_SET_PARAM_QUEUE_SIZE);
if (_set_param_int32_queue == nullptr) { if (_set_param_int32_queue == nullptr) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s init failed", send_text_prefix); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s init failed", send_text_prefix);
return; return;
} }
_initialised = true; _initialised = true;
@ -197,7 +197,7 @@ bool AP_Mount_Xacti::take_picture()
{ {
// fail if camera errored // fail if camera errored
if (_camera_error) { if (_camera_error) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s unable to take pic", send_text_prefix); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s unable to take pic", send_text_prefix);
return false; return false;
} }
@ -358,7 +358,7 @@ void AP_Mount_Xacti::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{ {
// return immediately if DroneCAN is unavailable // return immediately if DroneCAN is unavailable
if (ap_dronecan == nullptr) { if (ap_dronecan == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s DroneCAN subscribe failed", send_text_prefix); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s DroneCAN subscribe failed", send_text_prefix);
return; return;
} }
@ -501,39 +501,39 @@ bool AP_Mount_Xacti::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan,
const char* err_prefix_str = "Xacti: failed to"; const char* err_prefix_str = "Xacti: failed to";
if (strcmp(name, get_param_name_str(Param::SingleShot)) == 0) { if (strcmp(name, get_param_name_str(Param::SingleShot)) == 0) {
if (value < 0) { if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s take pic", err_prefix_str); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s take pic", err_prefix_str);
} }
return false; return false;
} }
if (strcmp(name, get_param_name_str(Param::Recording)) == 0) { if (strcmp(name, get_param_name_str(Param::Recording)) == 0) {
if (value < 0) { if (value < 0) {
_recording_video = false; _recording_video = false;
gcs().send_text(MAV_SEVERITY_ERROR, "%s record", err_prefix_str); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s record", err_prefix_str);
} else { } else {
_recording_video = (value == 1); _recording_video = (value == 1);
gcs().send_text(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording_video ? "ON" : "OFF"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording_video ? "ON" : "OFF");
} }
return false; return false;
} }
if (strcmp(name, get_param_name_str(Param::FocusMode)) == 0) { if (strcmp(name, get_param_name_str(Param::FocusMode)) == 0) {
if (value < 0) { if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change focus", err_prefix_str); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change focus", err_prefix_str);
} else { } else {
gcs().send_text(MAV_SEVERITY_INFO, "%s %s focus", send_text_prefix, value == 0 ? "manual" : "auto"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s focus", send_text_prefix, value == 0 ? "manual" : "auto");
} }
return false; return false;
} }
if (strcmp(name, get_param_name_str(Param::SensorMode)) == 0) { if (strcmp(name, get_param_name_str(Param::SensorMode)) == 0) {
if (value < 0) { if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change lens", err_prefix_str); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change lens", err_prefix_str);
} else if ((uint32_t)value < ARRAY_SIZE(sensor_mode_str)) { } else if ((uint32_t)value < ARRAY_SIZE(sensor_mode_str)) {
gcs().send_text(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, sensor_mode_str[(uint8_t)value]); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, sensor_mode_str[(uint8_t)value]);
} }
return false; return false;
} }
if (strcmp(name, get_param_name_str(Param::DigitalZoomMagnification)) == 0) { if (strcmp(name, get_param_name_str(Param::DigitalZoomMagnification)) == 0) {
if (value < 0) { if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change zoom", err_prefix_str); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change zoom", err_prefix_str);
// disable zoom rate control (if active) to avoid repeated failures // disable zoom rate control (if active) to avoid repeated failures
_zoom_rate_control.enabled = false; _zoom_rate_control.enabled = false;
} else if (value >= 100 && value <= 1000) { } else if (value >= 100 && value <= 1000) {
@ -542,7 +542,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan,
return false; return false;
} }
// unhandled parameter get or set // unhandled parameter get or set
gcs().send_text(MAV_SEVERITY_INFO, "%s get/set %s res:%ld", send_text_prefix, name, (long int)value); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s get/set %s res:%ld", send_text_prefix, name, (long int)value);
return false; return false;
} }
@ -553,7 +553,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_DroneCAN* ap_dronec
_firmware_version.received = true; _firmware_version.received = true;
const uint8_t len = MIN(value.len, ARRAY_SIZE(_firmware_version.str)-1); const uint8_t len = MIN(value.len, ARRAY_SIZE(_firmware_version.str)-1);
memcpy(_firmware_version.str, (const char*)value.data, len); memcpy(_firmware_version.str, (const char*)value.data, len);
gcs().send_text(MAV_SEVERITY_INFO, "Mount: Xacti fw:%s", _firmware_version.str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Xacti fw:%s", _firmware_version.str);
// firmware str from gimbal is of the format YYMMDD[b]xx. Convert to uint32 for reporting to GCS // firmware str from gimbal is of the format YYMMDD[b]xx. Convert to uint32 for reporting to GCS
if (len >= 9) { if (len >= 9) {
@ -570,7 +570,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_DroneCAN* ap_dronec
return false; return false;
} else if (strcmp(name, get_param_name_str(Param::DateTime)) == 0) { } else if (strcmp(name, get_param_name_str(Param::DateTime)) == 0) {
// display when time and date have been set // display when time and date have been set
gcs().send_text(MAV_SEVERITY_INFO, "%s datetime set %s", send_text_prefix, (const char*)value.data); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s datetime set %s", send_text_prefix, (const char*)value.data);
return false; return false;
} else if (strcmp(name, get_param_name_str(Param::Status)) == 0) { } else if (strcmp(name, get_param_name_str(Param::Status)) == 0) {
// check for expected length // check for expected length
@ -588,29 +588,29 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_DroneCAN* ap_dronec
uint32_t changed_bits = last_error_status ^ _status.error_status; uint32_t changed_bits = last_error_status ^ _status.error_status;
const char* ok_str = "OK"; const char* ok_str = "OK";
if (changed_bits & (uint32_t)ErrorStatus::TIME_NOT_SET) { if (changed_bits & (uint32_t)ErrorStatus::TIME_NOT_SET) {
gcs().send_text(MAV_SEVERITY_INFO, "%s time %sset", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET ? "not " : ""); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s time %sset", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET ? "not " : "");
if (_status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET) { if (_status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET) {
// try to set time again // try to set time again
_datetime.set = false; _datetime.set = false;
} }
} }
if (changed_bits & (uint32_t)ErrorStatus::MEDIA_ERROR) { if (changed_bits & (uint32_t)ErrorStatus::MEDIA_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s media %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MEDIA_ERROR ? error_str : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s media %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MEDIA_ERROR ? error_str : ok_str);
} }
if (changed_bits & (uint32_t)ErrorStatus::LENS_ERROR) { if (changed_bits & (uint32_t)ErrorStatus::LENS_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s lens %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::LENS_ERROR ? error_str : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s lens %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::LENS_ERROR ? error_str : ok_str);
} }
if (changed_bits & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR) { if (changed_bits & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s motor %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR ? "init error" : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s motor %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR ? "init error" : ok_str);
} }
if (changed_bits & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR) { if (changed_bits & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s motor op %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR ? error_str : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s motor op %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR ? error_str : ok_str);
} }
if (changed_bits & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR) { if (changed_bits & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s control %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR ? error_str : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s control %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR ? error_str : ok_str);
} }
if (changed_bits & (uint32_t)ErrorStatus::TEMP_WARNING) { if (changed_bits & (uint32_t)ErrorStatus::TEMP_WARNING) {
gcs().send_text(MAV_SEVERITY_INFO, "%s temp %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TEMP_WARNING ? "warning" : ok_str); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s temp %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TEMP_WARNING ? "warning" : ok_str);
} }
// set motor error for health reporting // set motor error for health reporting
@ -620,7 +620,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_DroneCAN* ap_dronec
} }
// unhandled parameter get or set // unhandled parameter get or set
gcs().send_text(MAV_SEVERITY_INFO, "%s get/set string %s res:%s", send_text_prefix, name, (const char*)value.data); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s get/set string %s res:%s", send_text_prefix, name, (const char*)value.data);
return false; return false;
} }
@ -628,7 +628,7 @@ void AP_Mount_Xacti::handle_param_save_response(AP_DroneCAN* ap_dronecan, const
{ {
// display failure to save parameter // display failure to save parameter
if (!success) { if (!success) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s CAM%u failed to set param", send_text_prefix, (int)_instance+1); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s CAM%u failed to set param", send_text_prefix, (int)_instance+1);
} }
} }
@ -856,7 +856,7 @@ bool AP_Mount_Xacti::set_datetime(uint32_t now_ms)
datetime_string.len = num_bytes; datetime_string.len = num_bytes;
_datetime.set = set_param_string(Param::DateTime, datetime_string); _datetime.set = set_param_string(Param::DateTime, datetime_string);
if (!_datetime.set) { if (!_datetime.set) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s failed to set date/time", send_text_prefix); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s failed to set date/time", send_text_prefix);
} }
return _datetime.set; return _datetime.set;