Sub: cope with change in namespace of LogEvent enum

Also eliminate the Log_Write_Event wrappers

ArduSub/AP_Arming_Sub.cpp

@@ -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);

ArduSub/ArduSub.cpp

@@ -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()) {

ArduSub/Log.cpp

@@ -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) {}

ArduSub/Sub.h

@@ -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(LogDataID id, int32_t value);
-    void Log_Write_Data(uint8_t id, int32_t value);
+    void Log_Write_Data(LogDataID id, uint32_t value);
-    void Log_Write_Data(uint8_t id, uint32_t value);
+    void Log_Write_Data(LogDataID id, int16_t value);
-    void Log_Write_Data(uint8_t id, int16_t value);
+    void Log_Write_Data(LogDataID id, uint16_t value);
-    void Log_Write_Data(uint8_t id, uint16_t value);
+    void Log_Write_Data(LogDataID id, float value);
-    void Log_Write_Data(uint8_t 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();

ArduSub/commands.cpp

@@ -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)) {

ArduSub/surface_bottom_detector.cpp

@@ -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);
     }
 }