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AP_BoardConfig: add allocation failure handling loop

This commit is contained in:
bugobliterator 2021-09-12 14:32:38 +05:30 committed by Peter Barker
parent 1dcc5c3030
commit 0de393bf7f
2 changed files with 32 additions and 16 deletions
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36
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -355,11 +355,11 @@ void AP_BoardConfig::init_safety()
/*
notify user of a fatal startup error related to available sensors.
*/
bool AP_BoardConfig::_in_sensor_config_error;
bool AP_BoardConfig::_in_error_loop;
void AP_BoardConfig::config_error(const char *fmt, ...)
void AP_BoardConfig::throw_error(const char *err_type, const char *fmt, va_list arg)
{
_in_sensor_config_error = true;
_in_error_loop = true;
/*
to give the user the opportunity to connect to USB we keep
repeating the error. The mavlink delay callback is initialised
@ -371,18 +371,12 @@ void AP_BoardConfig::config_error(const char *fmt, ...)
uint32_t now = AP_HAL::millis();
if (now - last_print_ms >= 5000) {
last_print_ms = now;
va_list arg_list;
char printfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+2];
hal.util->snprintf(printfmt, sizeof(printfmt), "Config error: %s\n", fmt);
va_start(arg_list, fmt);
vprintf(printfmt, arg_list);
va_end(arg_list);
hal.util->snprintf(printfmt, sizeof(printfmt), "%s: %s\n", err_type, fmt);
vprintf(printfmt, arg);
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && !defined(HAL_BUILD_AP_PERIPH)
char taggedfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "Config error: %s", fmt);
va_start(arg_list, fmt);
gcs().send_textv(MAV_SEVERITY_CRITICAL, taggedfmt, arg_list);
va_end(arg_list);
hal.util->snprintf(printfmt, sizeof(printfmt), "%s: %s", err_type, fmt);
gcs().send_textv(MAV_SEVERITY_CRITICAL, printfmt, arg);
#endif
}
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && !defined(HAL_BUILD_AP_PERIPH)
@ -394,6 +388,22 @@ void AP_BoardConfig::config_error(const char *fmt, ...)
}
}
void AP_BoardConfig::allocation_error(const char *fmt, ...)
{
va_list arg_list;
va_start(arg_list, fmt);
throw_error("Allocation Error", fmt, arg_list);
va_end(arg_list);
}
void AP_BoardConfig::config_error(const char *fmt, ...)
{
va_list arg_list;
va_start(arg_list, fmt);
throw_error("Config Error", fmt, arg_list);
va_end(arg_list);
}
/*
handle logic for safety state button press. This should be called at
10Hz when the button is pressed. The button can either be directly

12
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -64,11 +64,14 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// notify user of a fatal startup error related to available sensors.
static void config_error(const char *reason, ...);
static void config_error(const char *reason, ...) FMT_PRINTF(1, 2) NORETURN;
// notify user of a non-fatal startup error related to allocation failures.
static void allocation_error(const char *reason, ...) FMT_PRINTF(1, 2) NORETURN;
// permit other libraries (in particular, GCS_MAVLink) to detect
// that we're never going to boot properly:
static bool in_config_error(void) { return _in_sensor_config_error; }
static bool in_config_error(void) { return _in_error_loop; }
// valid types for BRD_TYPE: these values need to be in sync with the
// values from the param description
@ -236,7 +239,10 @@ private:
void board_setup_sbus(void);
void board_setup(void);
static bool _in_sensor_config_error;
// common method to throw errors
static void throw_error(const char *err_str, const char *fmt, va_list arg) NORETURN;
static bool _in_error_loop;
#if HAL_HAVE_IMU_HEATER
struct {