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Sub: use send_text method on the GCS singleton

This commit is contained in:
Peter Barker 2017-07-09 11:51:41 +10:00 committed by Tom Pittenger
parent 9509f7f1bf
commit 279072cf25
14 changed files with 40 additions and 62 deletions
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2
ArduSub/AP_Arming_Sub.cpp
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@ -37,7 +37,7 @@ bool AP_Arming_Sub::rc_check(bool report)
}
if (report && !ret) {
sub.gcs_send_text(MAV_SEVERITY_CRITICAL, message_fail);
gcs().send_text(MAV_SEVERITY_CRITICAL, message_fail);
}
return ret;

2
ArduSub/ArduSub.cpp
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@ -107,7 +107,7 @@ void Sub::perf_update(void)
Log_Write_Performance();
}
if (scheduler.debug()) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(),

26
ArduSub/GCS_Mavlink.cpp
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@ -1075,7 +1075,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_STORAGE:
if (is_equal(packet.param1, 2.0f)) {
AP_Param::erase_all();
sub.gcs_send_text(MAV_SEVERITY_WARNING, "All parameters reset, reboot board");
gcs().send_text(MAV_SEVERITY_WARNING, "All parameters reset, reboot board");
result= MAV_RESULT_ACCEPTED;
}
break;
@ -1264,7 +1264,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} else if (is_equal(packet.param6,1.0f)) {
// compassmot calibration
//result = sub.mavlink_compassmot(chan);
sub.gcs_send_text(MAV_SEVERITY_INFO, "#CompassMot calibration not supported");
gcs().send_text(MAV_SEVERITY_INFO, "#CompassMot calibration not supported");
result = MAV_RESULT_UNSUPPORTED;
}
break;
@ -1826,7 +1826,7 @@ void Sub::mavlink_delay_cb()
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
DataFlash.EnableWrites(true);
@ -1864,23 +1864,3 @@ void Sub::gcs_check_input(void)
{
gcs().update();
}
void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
gcs().send_statustext(severity, 0xFF, str);
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
va_end(arg_list);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
gcs().send_statustext(severity, 0xFF, str);
}

4
ArduSub/Log.cpp
View File

@ -8,9 +8,9 @@
void Sub::do_erase_logs(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
DataFlash.EraseAll();
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
}
// Write a Current data packet

2
ArduSub/Sub.h
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@ -497,7 +497,6 @@ private:
void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void);
void gcs_check_input(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void do_erase_logs(void);
void Log_Write_Current();
void Log_Write_Optflow();
@ -666,7 +665,6 @@ private:
bool ekf_position_ok();
bool optflow_position_ok();
bool should_log(uint32_t mask);
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

12
ArduSub/commands_logic.cpp
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@ -14,13 +14,13 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
// target alt must be negative (underwater)
if (target_loc.alt > 0.0f) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt);
gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt);
return true;
}
// only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth
if (target_loc.get_alt_frame() != Location_Class::ALT_FRAME_ABOVE_HOME) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame());
gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame());
return true;
}
@ -248,7 +248,7 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
@ -528,7 +528,7 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
// absolute delay to utc time
nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
}
#if GRIPPER_ENABLED == ENABLED
@ -585,7 +585,7 @@ bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
} else {
return false;
@ -700,7 +700,7 @@ bool Sub::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
} else {
return false;

2
ArduSub/control_althold.cpp
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@ -10,7 +10,7 @@ bool Sub::althold_init()
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
gcs().send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
return false;
}
#endif

8
ArduSub/control_auto.cpp
View File

@ -659,7 +659,7 @@ bool Sub::auto_terrain_recover_start()
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
gcs_send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
gcs().send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
return true;
}
@ -704,7 +704,7 @@ void Sub::auto_terrain_recover_run()
// 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled
if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) {
gcs_send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!");
gcs().send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!");
failsafe_terrain_set_status(true); // Reset failsafe timers
failsafe.terrain = false; // Clear flag
auto_mode = Auto_Loiter; // Switch back to loiter for next iteration
@ -719,7 +719,7 @@ void Sub::auto_terrain_recover_run()
default:
// Terrain failsafe recovery has failed, terrain data is not available
// and rangefinder is not connected, or has stopped responding
gcs_send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
failsafe_terrain_act();
rangefinder_recovery_ms = 0;
return;
@ -728,7 +728,7 @@ void Sub::auto_terrain_recover_run()
// exit on failure (timeout)
if (AP_HAL::millis() > fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) {
// Recovery has failed, revert to failsafe action
gcs_send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
failsafe_terrain_act();
}

2
ArduSub/control_surface.cpp
View File

@ -5,7 +5,7 @@ bool Sub::surface_init()
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present || failsafe.sensor_health) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
gcs().send_text(MAV_SEVERITY_WARNING, "BAD DEPTH");
return false;
}
#endif

20
ArduSub/failsafe.cpp
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@ -82,7 +82,7 @@ void Sub::failsafe_sensors_check(void)
}
failsafe.sensor_health = true;
gcs_send_text(MAV_SEVERITY_CRITICAL, "Depth sensor error!");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Depth sensor error!");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_SENSORS, ERROR_CODE_BAD_DEPTH);
if (control_mode == ALT_HOLD || control_mode == SURFACE || mode_requires_GPS(control_mode)) {
@ -139,7 +139,7 @@ void Sub::failsafe_ekf_check(void)
if (AP_HAL::millis() > failsafe.last_ekf_warn_ms + 20000) {
failsafe.last_ekf_warn_ms = AP_HAL::millis();
gcs_send_text(MAV_SEVERITY_WARNING, "EKF bad");
gcs().send_text(MAV_SEVERITY_WARNING, "EKF bad");
}
if (g.fs_ekf_action == FS_EKF_ACTION_DISARM) {
@ -167,7 +167,7 @@ void Sub::failsafe_battery_check(void)
// Always warn when failsafe condition is met
if (AP_HAL::millis() > failsafe.last_battery_warn_ms + 20000) {
failsafe.last_battery_warn_ms = AP_HAL::millis();
gcs_send_text(MAV_SEVERITY_WARNING, "Low battery");
gcs().send_text(MAV_SEVERITY_WARNING, "Low battery");
}
// Don't do anything if failsafe has already been set
@ -214,7 +214,7 @@ void Sub::failsafe_pilot_input_check()
failsafe.pilot_input = true;
Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "Lost manual control");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lost manual control");
if(g.failsafe_pilot_input == FS_PILOT_INPUT_DISARM) {
set_neutral_controls();
@ -251,7 +251,7 @@ void Sub::failsafe_internal_pressure_check()
// Warn every 30 seconds
if (failsafe.internal_pressure && tnow > last_pressure_warn_ms + 30000) {
last_pressure_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Internal pressure critical!");
gcs().send_text(MAV_SEVERITY_WARNING, "Internal pressure critical!");
}
}
@ -283,7 +283,7 @@ void Sub::failsafe_internal_temperature_check()
// Warn every 30 seconds
if (failsafe.internal_temperature && tnow > last_temperature_warn_ms + 30000) {
last_temperature_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Internal temperature critical!");
gcs().send_text(MAV_SEVERITY_WARNING, "Internal temperature critical!");
}
}
@ -309,7 +309,7 @@ void Sub::failsafe_leak_check()
// Always send a warning every 20 seconds
if (tnow > failsafe.last_leak_warn_ms + 20000) {
failsafe.last_leak_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_CRITICAL, "Leak Detected");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Leak Detected");
}
// Do nothing if we have already triggered the failsafe action, or if the motors are disarmed
@ -355,7 +355,7 @@ void Sub::failsafe_gcs_check()
// Send a warning every 30 seconds
if (tnow > failsafe.last_gcs_warn_ms + 30000) {
failsafe.last_gcs_warn_ms = tnow;
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MYGCS: %d, heartbeat lost", g.sysid_my_gcs);
gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: %d, heartbeat lost", g.sysid_my_gcs);
}
// do nothing if we have already triggered the failsafe action, or if the motors are disarmed
@ -418,7 +418,7 @@ void Sub::failsafe_crash_check()
// Send warning to GCS
if (tnow > failsafe.last_crash_warn_ms + 20000) {
failsafe.last_crash_warn_ms = tnow;
gcs_send_text(MAV_SEVERITY_WARNING,"Crash detected");
gcs().send_text(MAV_SEVERITY_WARNING,"Crash detected");
}
// Only perform failsafe action once
@ -448,7 +448,7 @@ void Sub::failsafe_terrain_check()
// check for clearing of event
if (trigger_event != failsafe.terrain) {
if (trigger_event) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered");
gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered");
failsafe_terrain_on_event();
} else {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED);

12
ArduSub/joystick.cpp
View File

@ -204,10 +204,10 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
video_toggle = !video_toggle;
if (video_toggle) {
video_switch = 1900;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
break;
@ -272,7 +272,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
} else {
gain = 1.0f;
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
gcs().send_text(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
@ -288,7 +288,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_dec:
@ -304,7 +304,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_trim_roll_inc:
@ -324,7 +324,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
zTrim = z_last-500;
xTrim = x_last;
yTrim = y_last;
gcs_send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
}
break;
case JSButton::button_function_t::k_relay_1_on:

4
ArduSub/motors.cpp
View File

@ -42,7 +42,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Arming motors");
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
#endif
initial_armed_bearing = ahrs.yaw_sensor;
@ -96,7 +96,7 @@ void Sub::init_disarm_motors()
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors");
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif
// save compass offsets learned by the EKF if enabled

4
ArduSub/sensors.cpp
View File

@ -2,9 +2,9 @@
void Sub::init_barometer(bool save)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate(save);
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
// return barometric altitude in centimeters

2
ArduSub/turn_counter.cpp
View File

@ -58,7 +58,7 @@ void Sub::update_turn_counter()
uint32_t tnow = AP_HAL::millis();
if (quarter_turn_count/4 != last_turn_count_printed && tnow > last_turn_announce_ms + 2000) {
last_turn_announce_ms = tnow;
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Tether is turned %i turns %s",int32_t(abs(quarter_turn_count)/4),(quarter_turn_count>0)?"to the right":"to the left");
gcs().send_text(MAV_SEVERITY_INFO,"Tether is turned %i turns %s",int32_t(abs(quarter_turn_count)/4),(quarter_turn_count>0)?"to the right":"to the left");
last_turn_count_printed = quarter_turn_count/4;
}
last_turn_state = turn_state;