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AP_InternalError: change panic to return error code as string in SITL

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This commit is contained in:
Josh Henderson 2021-08-20 02:03:25 -04:00 committed by Andrew Tridgell
parent 6c3612b51d
commit 0ae1536e4a
2 changed files with 47 additions and 36 deletions
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20
libraries/AP_InternalError/AP_InternalError.cpp
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@ -17,7 +17,9 @@ void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
// don't panic on these to facilitate watchdog testing
break;
default:
AP_HAL::panic("internal error %u", unsigned(e));
char buffer[50];
AP::internalerror().error_to_string(buffer, ARRAY_SIZE(buffer), e);
AP_HAL::panic("AP_InternalError::error_t::%s", buffer);
}
#endif
internal_errors |= uint32_t(e);
@ -29,9 +31,7 @@ void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
hal.util->persistent_data.internal_error_last_line = line;
}
void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) const
{
static const char * const error_bit_descriptions[] {
static const char * const error_bit_descriptions[] {
"mapfailure", // logger_mapfailure
"miss_struct", // logger_missing_logstructure
"write_mssfmt", // logger_logwrite_missingfmt
@ -62,10 +62,18 @@ void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) con
"dma_fail",
"params_restored",
"invalid arguments",
};
};
static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
void AP_InternalError::error_to_string(char *buffer, const uint16_t len, error_t error_code) const
{
uint32_t temp = log2f(int(error_code));
strncpy(buffer, error_bit_descriptions[temp], len - 1);
}
void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) const
{
buffer[0] = 0;
uint32_t buffer_used = 0;
for (uint8_t i=0; i<ARRAY_SIZE(error_bit_descriptions); i++) {

3
libraries/AP_InternalError/AP_InternalError.h
View File

@ -83,6 +83,9 @@ public:
// internal errors. buffer will always be null-terminated.
void errors_as_string(uint8_t *buffer, uint16_t len) const;
// convert an error code to a string
void error_to_string(char *buffer, uint16_t len, error_t error_code) const;
uint32_t count() const { return total_error_count; }
// internal_errors - return mask of internal errors seen