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Sub: cope with change in namespace of LogEvent enum 

Also eliminate the Log_Write_Event wrappers
This commit is contained in:
Peter Barker 2019-10-25 17:07:45 +11:00 committed by Randy Mackay
parent e6c6189fe5
commit 3819366a9e
6 changed files with 24 additions and 32 deletions
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6
ArduSub/AP_Arming_Sub.cpp
View File

@ -121,7 +121,7 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
// Always use absolute altitude for ROV
// ahrs.resetHeightDatum();
// Log_Write_Event(DATA_EKF_ALT_RESET);
// AP::logger().Write_Event(LogEvent::EKF_ALT_RESET);
} else if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
// Reset home position if it has already been set before (but not locked)
if (!sub.set_home_to_current_location(false)) {
@ -139,7 +139,7 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
// finally actually arm the motors
sub.motors.armed(true);
AP::logger().Write_Event(DATA_ARMED);
AP::logger().Write_Event(LogEvent::ARMED);
// log flight mode in case it was changed while vehicle was disarmed
AP::logger().Write_Mode(sub.control_mode, sub.control_mode_reason);
@ -184,7 +184,7 @@ bool AP_Arming_Sub::disarm()
}
}
AP::logger().Write_Event(DATA_DISARMED);
AP::logger().Write_Event(LogEvent::DISARMED);
// send disarm command to motors
sub.motors.armed(false);

2
ArduSub/ArduSub.cpp
View File

@ -268,7 +268,7 @@ void Sub::one_hz_loop()
AP_Notify::flags.flying = motors.armed();
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
Log_Write_Data(LogDataID::AP_STATE, ap.value);
}
if (!motors.armed()) {

27
ArduSub/Log.cpp
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@ -88,12 +88,6 @@ void Sub::Log_Write_MotBatt()
logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
}
// Wrote an event packet
void Sub::Log_Write_Event(Log_Event id)
{
logger.Write_Event(id);
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -103,13 +97,13 @@ struct PACKED log_Data_Int16t {
// Write an int16_t data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, int16_t value)
void Sub::Log_Write_Data(LogDataID id, int16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -125,13 +119,13 @@ struct PACKED log_Data_UInt16t {
// Write an uint16_t data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, uint16_t value)
void Sub::Log_Write_Data(LogDataID id, uint16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -146,13 +140,13 @@ struct PACKED log_Data_Int32t {
};
// Write an int32_t data packet
void Sub::Log_Write_Data(uint8_t id, int32_t value)
void Sub::Log_Write_Data(LogDataID id, int32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -167,13 +161,13 @@ struct PACKED log_Data_UInt32t {
};
// Write a uint32_t data packet
void Sub::Log_Write_Data(uint8_t id, uint32_t value)
void Sub::Log_Write_Data(LogDataID id, uint32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -189,13 +183,13 @@ struct PACKED log_Data_Float {
// Write a float data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, float value)
void Sub::Log_Write_Data(LogDataID id, float value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -290,7 +284,6 @@ void Sub::Log_Write_Control_Tuning() {}
void Sub::Log_Write_Performance() {}
void Sub::Log_Write_Attitude(void) {}
void Sub::Log_Write_MotBatt() {}
void Sub::Log_Write_Event(Log_Event id) {}
void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
void Sub::Log_Write_Data(uint8_t id, int16_t value) {}

11
ArduSub/Sub.h
View File

@ -454,12 +454,11 @@ private:
void Log_Write_Performance();
void Log_Write_Attitude();
void Log_Write_MotBatt();
void Log_Write_Event(Log_Event id);
void Log_Write_Data(uint8_t id, int32_t value);
void Log_Write_Data(uint8_t id, uint32_t value);
void Log_Write_Data(uint8_t id, int16_t value);
void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value);
void Log_Write_Data(LogDataID id, int32_t value);
void Log_Write_Data(LogDataID id, uint32_t value);
void Log_Write_Data(LogDataID id, int16_t value);
void Log_Write_Data(LogDataID id, uint16_t value);
void Log_Write_Data(LogDataID id, float value);
void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages();

2
ArduSub/commands.cpp
View File

@ -73,7 +73,7 @@ bool Sub::set_home(const Location& loc, bool lock)
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = loc.longitude_scale();
// record home is set
Log_Write_Event(DATA_SET_HOME);
AP::logger().Write_Event(LogEvent::SET_HOME);
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {

8
ArduSub/surface_bottom_detector.cpp
View File

@ -90,9 +90,9 @@ void Sub::set_surfaced(bool at_surface)
surface_detector_count = 0;
if (ap.at_surface) {
Log_Write_Event(DATA_SURFACED);
AP::logger().Write_Event(LogEvent::SURFACED);
} else {
Log_Write_Event(DATA_NOT_SURFACED);
AP::logger().Write_Event(LogEvent::NOT_SURFACED);
}
}
@ -108,8 +108,8 @@ void Sub::set_bottomed(bool at_bottom)
bottom_detector_count = 0;
if (ap.at_bottom) {
Log_Write_Event(DATA_BOTTOMED);
AP::logger().Write_Event(LogEvent::BOTTOMED);
} else {
Log_Write_Event(DATA_NOT_BOTTOMED);
AP::logger().Write_Event(LogEvent::NOT_BOTTOMED);
}
}