From 0694154f1c69b004caa4ceb7ebb29f2a0cacf1e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH] AP_Vehicle: move logger object up to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 10 ++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  9 +++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 37507b41a2..bfaa356e8f 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -264,6 +264,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
 #endif
 
+#if HAL_LOGGING_ENABLED
+    // @Group: LOG
+    // @Path: ../AP_Logger/AP_Logger.cpp
+    AP_SUBGROUPINFO(logger, "LOG",  29, AP_Vehicle, AP_Logger),
+#endif
+
     AP_GROUPEND
 };
 
@@ -372,6 +378,10 @@ void AP_Vehicle::setup()
     can_mgr.init();
 #endif
 
+#if HAL_LOGGING_ENABLED
+    logger.init(get_log_bitmask(), get_log_structures(), get_num_log_structures());
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 953ea8d7c5..33797531a6 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -37,6 +37,7 @@
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
+#include <AP_Logger/AP_Logger.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -317,6 +318,14 @@ protected:
 #endif
     RangeFinder rangefinder;
 
+#if HAL_LOGGING_ENABLED
+    AP_Logger logger;
+    // method supplied by vehicle to provide log bitmask:
+    virtual const AP_Int32 &get_log_bitmask() = 0;
+    virtual const struct LogStructure *get_log_structures() const = 0;
+    virtual uint8_t get_num_log_structures() const = 0;
+#endif
+
 #if AP_RSSI_ENABLED
     AP_RSSI rssi;
 #endif