mirror of https://github.com/ArduPilot/ardupilot
Replay: fix for WriteV usage and cleanup unused code
This commit is contained in:
Andrew Tridgell
Peter Barker
parent
e143257f8a
commit
1250f62c88
|
|
@ -29,19 +29,6 @@ LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3
|
||||||
ekf3(_ekf3)
|
ekf3(_ekf3)
|
||||||
{
|
{
|
||||||
}
|
}
|
||||||
// these names we emit from the code as normal, but are emitted using
|
|
||||||
// Log_Write. Thus they are not present in LOG_COMMON_STRUCTURES. A
|
|
||||||
// format will be written for this by the code itself the first time
|
|
||||||
// the message is emitted to the log. However, we must not write the
|
|
||||||
// messages from the old log to the new log, so we need to keep a map
|
|
||||||
// of IDs to prune out...
|
|
||||||
static const char *log_write_names[] = {
|
|
||||||
nullptr
|
|
||||||
};
|
|
||||||
|
|
||||||
static const char *generated_names[] = {
|
|
||||||
NULL
|
|
||||||
};
|
|
||||||
|
|
||||||
/*
|
/*
|
||||||
see if a type is in a list of types
|
see if a type is in a list of types
|
||||||
|
|
@ -59,50 +46,6 @@ bool LogReader::in_list(const char *type, const char *list[])
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
|
||||||
map from an incoming format type to an outgoing format type
|
|
||||||
*/
|
|
||||||
uint8_t LogReader::map_fmt_type(const char *name, uint8_t intype)
|
|
||||||
{
|
|
||||||
if (intype == 128) {
|
|
||||||
// everybody's favourite FMT message...
|
|
||||||
return 128;
|
|
||||||
}
|
|
||||||
if (mapped_msgid[intype] != 0) {
|
|
||||||
// already mapped
|
|
||||||
return mapped_msgid[intype];
|
|
||||||
}
|
|
||||||
for (uint8_t n=next_msgid; n<255; n++) {
|
|
||||||
bool already_mapped = false;
|
|
||||||
for (uint16_t i=0; i<sizeof(mapped_msgid); i++) {
|
|
||||||
if (mapped_msgid[i] == n) {
|
|
||||||
// already mapped - must be one of our generated names
|
|
||||||
already_mapped = true;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (already_mapped) {
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
if (AP::logger().msg_type_in_use(n)) {
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
mapped_msgid[intype] = n;
|
|
||||||
next_msgid = n+1;
|
|
||||||
if (next_msgid == 128) {
|
|
||||||
// don't. Just... don't...
|
|
||||||
next_msgid += 1;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if (mapped_msgid[intype] == 0) {
|
|
||||||
::printf("mapping failed\n");
|
|
||||||
abort();
|
|
||||||
}
|
|
||||||
|
|
||||||
return mapped_msgid[intype];
|
|
||||||
}
|
|
||||||
|
|
||||||
bool LogReader::handle_log_format_msg(const struct log_Format &f)
|
bool LogReader::handle_log_format_msg(const struct log_Format &f)
|
||||||
{
|
{
|
||||||
// emit the output as we receive it:
|
// emit the output as we receive it:
|
||||||
|
|
@ -111,33 +54,6 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
|
||||||
char name[5];
|
char name[5];
|
||||||
memset(name, '\0', 5);
|
memset(name, '\0', 5);
|
||||||
memcpy(name, f.name, 4);
|
memcpy(name, f.name, 4);
|
||||||
// debug("Defining log format for type (%d) (%s)\n", f.type, name);
|
|
||||||
|
|
||||||
struct LogStructure s = _log_structure[_log_structure_count++];
|
|
||||||
// logger.set_num_types(_log_structure_count);
|
|
||||||
|
|
||||||
if (in_list(name, log_write_names)) {
|
|
||||||
// debug("%s is a Log_Write-written message\n", name);
|
|
||||||
} else {
|
|
||||||
if (!in_list(name, generated_names)) {
|
|
||||||
s.msg_type = map_fmt_type(name, f.type);
|
|
||||||
s.msg_len = f.length;
|
|
||||||
s.name = f.name;
|
|
||||||
s.format = f.format;
|
|
||||||
s.labels = f.labels;
|
|
||||||
}
|
|
||||||
|
|
||||||
// emit the FMT to AP_Logger:
|
|
||||||
struct log_Format pkt {};
|
|
||||||
pkt.head1 = HEAD_BYTE1;
|
|
||||||
pkt.head2 = HEAD_BYTE2;
|
|
||||||
pkt.msgid = LOG_FORMAT_MSG;
|
|
||||||
pkt.type = s.msg_type;
|
|
||||||
pkt.length = s.msg_len;
|
|
||||||
memcpy(pkt.name, s.name, sizeof(pkt.name));
|
|
||||||
memcpy(pkt.format, s.format, sizeof(pkt.format));
|
|
||||||
memcpy(pkt.labels, s.labels, sizeof(pkt.labels));
|
|
||||||
}
|
|
||||||
|
|
||||||
if (msgparser[f.type] != NULL) {
|
if (msgparser[f.type] != NULL) {
|
||||||
return true;
|
return true;
|
||||||
|
|
|
||||||
|
|
@ -31,17 +31,6 @@ private:
|
||||||
uint8_t _log_structure_count;
|
uint8_t _log_structure_count;
|
||||||
|
|
||||||
class LR_MsgHandler *msgparser[LOGREADER_MAX_FORMATS] {};
|
class LR_MsgHandler *msgparser[LOGREADER_MAX_FORMATS] {};
|
||||||
|
|
||||||
// mapping from original msgid to output msgid
|
|
||||||
uint8_t mapped_msgid[256] {};
|
|
||||||
|
|
||||||
// next available msgid for mapping
|
|
||||||
uint8_t next_msgid = 1;
|
|
||||||
|
|
||||||
void initialise_fmt_map();
|
|
||||||
uint8_t map_fmt_type(const char *name, uint8_t intype);
|
|
||||||
|
|
||||||
bool save_message_type(const char *name);
|
|
||||||
};
|
};
|
||||||
|
|
||||||
// some vars are difficult to get through the layers
|
// some vars are difficult to get through the layers
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue