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AP_Logger: split logging of mission-upload vs mission-execution

This commit is contained in:
Peter Barker 2024-09-27 17:34:18 +10:00 committed by Andrew Tridgell
parent 1d947396b3
commit 4237a33ce6
5 changed files with 17 additions and 7 deletions
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5
libraries/AP_Logger/AP_Logger.cpp
View File

@ -896,9 +896,10 @@ void AP_Logger::Write_Parameter(const char *name, float value)
} }
void AP_Logger::Write_Mission_Cmd(const AP_Mission &mission, void AP_Logger::Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd) const AP_Mission::Mission_Command &cmd,
LogMessages id)
{ {
FOR_EACH_BACKEND(Write_Mission_Cmd(mission, cmd)); FOR_EACH_BACKEND(Write_Mission_Cmd(mission, cmd, id));
} }
#if HAL_RALLY_ENABLED #if HAL_RALLY_ENABLED

9
libraries/AP_Logger/AP_Logger.h
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@ -273,8 +273,15 @@ public:
uint8_t source_component, uint8_t source_component,
MAV_RESULT result, MAV_RESULT result,
bool was_command_long=false); bool was_command_long=false);
void Write_MISE(const AP_Mission &mission, const AP_Mission::Mission_Command &cmd) {
Write_Mission_Cmd(mission, cmd, LOG_MISE_MSG);
}
void Write_CMD(const AP_Mission &mission, const AP_Mission::Mission_Command &cmd) {
Write_Mission_Cmd(mission, cmd, LOG_CMD_MSG);
}
void Write_Mission_Cmd(const AP_Mission &mission, void Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd); const AP_Mission::Mission_Command &cmd,
LogMessages id);
void Write_RallyPoint(uint8_t total, void Write_RallyPoint(uint8_t total,
uint8_t sequence, uint8_t sequence,
const class RallyLocation &rally_point); const class RallyLocation &rally_point);

3
libraries/AP_Logger/AP_Logger_Backend.h
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@ -140,7 +140,8 @@ public:
bool Write_Message(const char *message); bool Write_Message(const char *message);
bool Write_MessageF(const char *fmt, ...); bool Write_MessageF(const char *fmt, ...);
bool Write_Mission_Cmd(const AP_Mission &mission, bool Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd); const AP_Mission::Mission_Command &cmd,
LogMessages id);
bool Write_Mode(uint8_t mode, const ModeReason reason); bool Write_Mode(uint8_t mode, const ModeReason reason);
bool Write_Parameter(const char *name, float value, float default_val); bool Write_Parameter(const char *name, float value, float default_val);
bool Write_Parameter(const AP_Param *ap, bool Write_Parameter(const AP_Param *ap,

5
libraries/AP_Logger/LogFile.cpp
View File

@ -300,12 +300,13 @@ void AP_Logger::Write_Command(const mavlink_command_int_t &packet,
} }
bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission, bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd) const AP_Mission::Mission_Command &cmd,
LogMessages msgid)
{ {
mavlink_mission_item_int_t mav_cmd = {}; mavlink_mission_item_int_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd); AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
const struct log_CMD pkt{ const struct log_CMD pkt{
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG), LOG_PACKET_HEADER_INIT(msgid),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
command_total : mission.num_commands(), command_total : mission.num_commands(),
sequence : mav_cmd.seq, sequence : mav_cmd.seq,

2
libraries/AP_Logger/LoggerMessageWriter.cpp
View File

@ -437,7 +437,7 @@ void LoggerMessageWriter_WriteEntireMission::process() {
// upon failure to write the mission we will re-read from // upon failure to write the mission we will re-read from
// storage; this could be improved. // storage; this could be improved.
if (_mission->read_cmd_from_storage(_mission_number_to_send,cmd)) { if (_mission->read_cmd_from_storage(_mission_number_to_send,cmd)) {
if (!_logger_backend->Write_Mission_Cmd(*_mission, cmd)) { if (!_logger_backend->Write_Mission_Cmd(*_mission, cmd, LOG_CMD_MSG)) {
return; // call me again return; // call me again
} }
} }