Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Logger: stop libraries including AP_Logger.h in .h files 

AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
This commit is contained in:
Peter Barker 2022-03-04 14:29:47 +11:00 committed by Peter Barker
parent 8ec0eed749
commit 0c32eeca2e
2 changed files with 3 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_Logger/AP_Logger.h
View File

@ -48,6 +48,7 @@
#define HAL_LOGGER_FILE_CONTENTS_ENABLED HAL_LOGGING_FILESYSTEM_ENABLED
#endif
#include <AC_PID/AC_PID.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_AHRS/AP_AHRS_DCM.h>
@ -326,21 +327,7 @@ public:
void WriteCritical(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);
void WriteV(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, va_list arg_list, bool is_critical=false, bool is_streaming=false);
// This structure provides information on the internal member data of a PID for logging purposes
struct PID_Info {
float target;
float actual;
float error;
float P;
float I;
float D;
float FF;
float Dmod;
float slew_rate;
bool limit;
};
void Write_PID(uint8_t msg_type, const PID_Info &info);
void Write_PID(uint8_t msg_type, const AP_PIDInfo &info);
// returns true if logging of a message should be attempted
bool should_log(uint32_t mask) const;

2
libraries/AP_Logger/LogFile.cpp
View File

@ -407,7 +407,7 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
// Write a Yaw PID packet
void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
{
const struct log_PID pkt{
LOG_PACKET_HEADER_INIT(msg_type),