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AP_Vehicle: allow more libraries to compile with no HAL_GCS_ENABLED

This commit is contained in:
Peter Barker 2023-09-02 15:21:36 +10:00 committed by Peter Barker
parent 545d3b2648
commit 23ec192854
1 changed files with 16 additions and 9 deletions
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25
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -271,11 +271,13 @@ void AP_Vehicle::setup()
// survivability. // survivability.
set_control_channels(); set_control_channels();
#if HAL_GCS_ENABLED
// initialise serial manager as early as sensible to get // initialise serial manager as early as sensible to get
// diagnostic output during boot process. We have to initialise // diagnostic output during boot process. We have to initialise
// the GCS singleton first as it sets the global mavlink system ID // the GCS singleton first as it sets the global mavlink system ID
// which may get used very early on. // which may get used very early on.
gcs().init(); gcs().init();
#endif
#if AP_NETWORKING_ENABLED #if AP_NETWORKING_ENABLED
networking.init(); networking.init();
@ -283,7 +285,9 @@ void AP_Vehicle::setup()
// initialise serial ports // initialise serial ports
serial_manager.init(); serial_manager.init();
#if HAL_GCS_ENABLED
gcs().setup_console(); gcs().setup_console();
#endif
// Register scheduler_delay_cb, which will run anytime you have // Register scheduler_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay // more than 5ms remaining in your call to hal.scheduler->delay
@ -396,11 +400,11 @@ void AP_Vehicle::setup()
// initialisation // initialisation
AP_Param::invalidate_count(); AP_Param::invalidate_count();
gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ArduPilot Ready");
#if AP_DDS_ENABLED #if AP_DDS_ENABLED
if (!init_dds_client()) { if (!init_dds_client()) {
gcs().send_text(MAV_SEVERITY_ERROR, "DDS Client: Failed to Initialize"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DDS Client: Failed to Initialize");
} }
#endif #endif
} }
@ -430,7 +434,7 @@ void AP_Vehicle::loop()
const uint32_t new_internal_errors = AP::internalerror().errors(); const uint32_t new_internal_errors = AP::internalerror().errors();
if(_last_internal_errors != new_internal_errors) { if(_last_internal_errors != new_internal_errors) {
AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED); AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors);
_last_internal_errors = new_internal_errors; _last_internal_errors = new_internal_errors;
} }
} }
@ -558,21 +562,23 @@ void AP_Vehicle::scheduler_delay_callback()
const uint32_t tnow = AP_HAL::millis(); const uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
last_1hz = tnow; last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT); GCS_SEND_MESSAGE(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS); GCS_SEND_MESSAGE(MSG_SYS_STATUS);
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {
last_50hz = tnow; last_50hz = tnow;
#if HAL_GCS_ENABLED
gcs().update_receive(); gcs().update_receive();
gcs().update_send(); gcs().update_send();
#endif
_singleton->notify.update(); _singleton->notify.update();
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
last_5s = tnow; last_5s = tnow;
if (AP_BoardConfig::in_config_error()) { if (AP_BoardConfig::in_config_error()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Config Error: fix problem then reboot"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Config Error: fix problem then reboot");
} else { } else {
gcs().send_text(MAV_SEVERITY_INFO, "Initialising ArduPilot"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Initialising ArduPilot");
} }
} }
@ -586,7 +592,8 @@ void AP_Vehicle::send_watchdog_reset_statustext()
return; return;
} }
const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data; const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
gcs().send_text(MAV_SEVERITY_CRITICAL, (void)pd; // in case !HAL_GCS_ENABLED
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL,
"WDG: T%d SL%u FL%u FT%u FA%x FTP%u FLR%x FICSR%u MM%u MC%u IE%u IEC%u TN:%.4s", "WDG: T%d SL%u FL%u FT%u FA%x FTP%u FLR%x FICSR%u MM%u MC%u IE%u IEC%u TN:%.4s",
pd.scheduler_task, pd.scheduler_task,
pd.semaphore_line, pd.semaphore_line,
@ -916,7 +923,7 @@ void AP_Vehicle::check_motor_noise()
float energy = gyro_fft.has_noise_at_frequency_hz(esc_data[i]); float energy = gyro_fft.has_noise_at_frequency_hz(esc_data[i]);
energy = esc_noise[i].apply(energy, 0.2f); energy = esc_noise[i].apply(energy, 0.2f);
if (energy > 40.0f && AP_HAL::millis() - last_motor_noise_ms > 5000) { if (energy > 40.0f && AP_HAL::millis() - last_motor_noise_ms > 5000) {
gcs().send_text(MAV_SEVERITY_WARNING, "Noise %.fdB on motor %u at %.fHz", energy, i+1, esc_data[i]); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Noise %.fdB on motor %u at %.fHz", energy, i+1, esc_data[i]);
output_error = true; output_error = true;
} }
} }