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GCS_MAVLink: allow compilation with HAL_LOGGING_ENABLED false

This commit is contained in:
Peter Barker 2023-07-14 10:58:09 +10:00 committed by Andrew Tridgell
parent 8801b78a9c
commit 4cf71de646
5 changed files with 34 additions and 2 deletions
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1
libraries/GCS_MAVLink/GCS.cpp
View File

@ -17,6 +17,7 @@
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_GPS/AP_GPS.h>
#include "MissionItemProtocol_Waypoints.h"
#include "MissionItemProtocol_Rally.h"

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -872,10 +872,12 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad
}
#endif
#if HAL_LOGGING_ENABLED
//log rssi, noise, etc if logging Performance monitoring data
if (log_radio) {
AP::logger().Write_Radio(packet);
}
#endif
}
void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
@ -1838,6 +1840,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
}
}
#if HAL_LOGGING_ENABLED
// consider logging mavlink stats:
if (is_active() || is_streaming()) {
if (tnow - last_mavlink_stats_logged > 1000) {
@ -1845,6 +1848,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
last_mavlink_stats_logged = tnow;
}
}
#endif
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
@ -1921,6 +1925,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
#endif
}
#if HAL_LOGGING_ENABLED
/*
record stats about this link to logger
*/
@ -1957,6 +1962,7 @@ void GCS_MAVLINK::log_mavlink_stats()
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
#endif
/*
send the SYSTEM_TIME message
@ -2279,12 +2285,14 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, u
}
} while (false);
#if HAL_LOGGING_ENABLED
// given we don't really know what these methods get up to, we
// don't hold the statustext semaphore while doing them:
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {
logger->Write_Message(first_piece_of_text);
}
#endif
#if AP_FRSKY_TELEM_ENABLED
frsky = AP::frsky_telem();
@ -3394,13 +3402,15 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
// response to an ancient request...
return;
}
const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f;
#if 0
gcs().send_text(MAV_SEVERITY_INFO,
"timesync response sysid=%u (latency=%fms)",
msg.sysid,
round_trip_time_us*0.001f);
#endif
#if HAL_LOGGING_ENABLED
const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f;
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {
AP::logger().Write(
@ -3414,6 +3424,7 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
round_trip_time_us
);
}
#endif // HAL_LOGGING_ENABLED
return;
}
@ -3452,6 +3463,7 @@ void GCS_MAVLINK::send_timesync()
void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
{
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
return;
@ -3476,6 +3488,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
memcpy(&text[offset], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
logger->Write_Message(text);
#endif
}
@ -3484,6 +3497,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
*/
void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const
{
#if HAL_LOGGING_ENABLED
auto *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
return;
@ -3499,6 +3513,7 @@ void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const
p.value,
msg.sysid,
msg.compid);
#endif
}
#if AP_RTC_ENABLED
@ -3546,7 +3561,9 @@ void GCS_MAVLINK::set_ekf_origin(const Location& loc)
return;
}
#if HAL_LOGGING_ENABLED
ahrs.Log_Write_Home_And_Origin();
#endif
// send ekf origin to GCS
if (!try_send_message(MSG_ORIGIN)) {
@ -3961,6 +3978,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_TIMESYNC:
handle_timesync(msg);
break;
#if HAL_LOGGING_ENABLED
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE:
@ -3968,6 +3986,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
AP::logger().handle_mavlink_msg(*this, msg);
break;
#endif
case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
handle_file_transfer_protocol(msg);
@ -4923,10 +4942,12 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
msg.sysid,
msg.compid);
#if HAL_LOGGING_ENABLED
// log the packet:
mavlink_command_int_t packet_int;
convert_COMMAND_LONG_to_COMMAND_INT(packet, packet_int);
AP::logger().Write_Command(packet_int, msg.sysid, msg.compid, result, true);
#endif
hal.util->persistent_data.last_mavlink_cmd = 0;
}
@ -5313,7 +5334,9 @@ void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg)
msg.sysid,
msg.compid);
#if HAL_LOGGING_ENABLED
AP::logger().Write_Command(packet, msg.sysid, msg.compid, result);
#endif
hal.util->persistent_data.last_mavlink_cmd = 0;
}

6
libraries/GCS_MAVLink/GCS_Param.cpp
View File

@ -314,11 +314,13 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg)
if (force_save && (parameter_flags & AP_PARAM_FLAG_ENABLE)) {
AP_Param::invalidate_count();
}
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {
logger->Write_Parameter(key, vp->cast_to_float(var_type));
}
#endif
}
void GCS_MAVLINK::send_parameter_value(const char *param_name, ap_var_type param_type, float param_value)
@ -351,11 +353,13 @@ void GCS::send_parameter_value(const char *param_name, ap_var_type param_type, f
gcs().send_to_active_channels(MAVLINK_MSG_ID_PARAM_VALUE,
(const char *)&packet);
#if HAL_LOGGING_ENABLED
// also log to AP_Logger
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {
logger->Write_Parameter(param_name, param_value);
}
#endif
}

2
libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
View File

@ -43,7 +43,9 @@ MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_
MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
{
#if HAL_LOGGING_ENABLED
AP::logger().Write_Rally();
#endif
return MAV_MISSION_ACCEPTED;
}

2
libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
View File

@ -58,7 +58,9 @@ bool MissionItemProtocol_Waypoints::clear_all_items()
MAV_MISSION_RESULT MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_link)
{
_link.send_text(MAV_SEVERITY_INFO, "Flight plan received");
#if HAL_LOGGING_ENABLED
AP::logger().Write_EntireMission();
#endif
return MAV_MISSION_ACCEPTED;
}