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GCS_MAVLink: use GCS_SEND_TEXT rather than gcs().send_text

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Co-authored-by: muramura <ma2maru@gmail.com>
This commit is contained in:
Peter Barker 2024-08-07 13:17:22 +10:00 committed by Andrew Tridgell
parent c0b905f6e6
commit 4dac24796d
7 changed files with 31 additions and 31 deletions
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2
libraries/GCS_MAVLink/GCS.cpp
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@ -125,7 +125,7 @@ void GCS::send_named_float(const char *name, float value) const
void GCS::enable_high_latency_connections(bool enabled) void GCS::enable_high_latency_connections(bool enabled)
{ {
high_latency_link_enabled = enabled; high_latency_link_enabled = enabled;
gcs().send_text(MAV_SEVERITY_NOTICE, "High Latency %s", enabled ? "enabled" : "disabled"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "High Latency %s", enabled ? "enabled" : "disabled");
} }
bool GCS::get_high_latency_status() bool GCS::get_high_latency_status()

42
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1137,7 +1137,7 @@ bool GCS_MAVLINK::set_mavlink_message_id_interval(const uint32_t mavlink_id,
{ {
const ap_message id = mavlink_id_to_ap_message_id(mavlink_id); const ap_message id = mavlink_id_to_ap_message_id(mavlink_id);
if (id == MSG_LAST) { if (id == MSG_LAST) {
gcs().send_text(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)mavlink_id); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)mavlink_id);
return false; return false;
} }
return set_ap_message_interval(id, interval_ms); return set_ap_message_interval(id, interval_ms);
@ -1901,7 +1901,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
if (uint16_t(now16_ms - try_send_message_stats.statustext_last_sent_ms) > 10000U) { if (uint16_t(now16_ms - try_send_message_stats.statustext_last_sent_ms) > 10000U) {
if (try_send_message_stats.longest_time_us) { if (try_send_message_stats.longest_time_us) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): ap_msg=%u took %uus to send", "GCS.chan(%u): ap_msg=%u took %uus to send",
chan, chan,
try_send_message_stats.longest_id, try_send_message_stats.longest_id,
@ -1910,42 +1910,42 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
} }
if (try_send_message_stats.no_space_for_message && if (try_send_message_stats.no_space_for_message &&
(is_active() || is_streaming())) { (is_active() || is_streaming())) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): out-of-space: %u", "GCS.chan(%u): out-of-space: %u",
chan, chan,
try_send_message_stats.no_space_for_message); try_send_message_stats.no_space_for_message);
try_send_message_stats.no_space_for_message = 0; try_send_message_stats.no_space_for_message = 0;
} }
if (try_send_message_stats.out_of_time) { if (try_send_message_stats.out_of_time) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): out-of-time=%u", "GCS.chan(%u): out-of-time=%u",
chan, chan,
try_send_message_stats.out_of_time); try_send_message_stats.out_of_time);
try_send_message_stats.out_of_time = 0; try_send_message_stats.out_of_time = 0;
} }
if (max_slowdown_ms) { if (max_slowdown_ms) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): max slowdown=%u", "GCS.chan(%u): max slowdown=%u",
chan, chan,
max_slowdown_ms); max_slowdown_ms);
max_slowdown_ms = 0; max_slowdown_ms = 0;
} }
if (try_send_message_stats.behind) { if (try_send_message_stats.behind) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): behind=%u", "GCS.chan(%u): behind=%u",
chan, chan,
try_send_message_stats.behind); try_send_message_stats.behind);
try_send_message_stats.behind = 0; try_send_message_stats.behind = 0;
} }
if (try_send_message_stats.fnbts_maxtime) { if (try_send_message_stats.fnbts_maxtime) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): fnbts_maxtime=%uus", "GCS.chan(%u): fnbts_maxtime=%uus",
chan, chan,
try_send_message_stats.fnbts_maxtime); try_send_message_stats.fnbts_maxtime);
try_send_message_stats.fnbts_maxtime = 0; try_send_message_stats.fnbts_maxtime = 0;
} }
if (try_send_message_stats.max_retry_deferred_body_us) { if (try_send_message_stats.max_retry_deferred_body_us) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GCS.chan(%u): retry_body_maxtime=%uus (%u)", "GCS.chan(%u): retry_body_maxtime=%uus (%u)",
chan, chan,
try_send_message_stats.max_retry_deferred_body_us, try_send_message_stats.max_retry_deferred_body_us,
@ -1955,7 +1955,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
} }
for (uint8_t i=0; i<ARRAY_SIZE(deferred_message_bucket); i++) { for (uint8_t i=0; i<ARRAY_SIZE(deferred_message_bucket); i++) {
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"B. intvl. (%u): %u %u %u %u %u", "B. intvl. (%u): %u %u %u %u %u",
chan, chan,
deferred_message_bucket[0].interval_ms, deferred_message_bucket[0].interval_ms,
@ -3035,7 +3035,7 @@ MAV_RESULT GCS_MAVLINK::set_message_interval(uint32_t msg_id, int32_t interval_u
{ {
const ap_message id = mavlink_id_to_ap_message_id(msg_id); const ap_message id = mavlink_id_to_ap_message_id(msg_id);
if (id == MSG_LAST) { if (id == MSG_LAST) {
gcs().send_text(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)msg_id); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)msg_id);
return MAV_RESULT_DENIED; return MAV_RESULT_DENIED;
} }
@ -3523,7 +3523,7 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
return; return;
} }
#if 0 #if 0
gcs().send_text(MAV_SEVERITY_INFO, GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"timesync response sysid=%u (latency=%fms)", "timesync response sysid=%u (latency=%fms)",
msg.sysid, msg.sysid,
round_trip_time_us*0.001f); round_trip_time_us*0.001f);
@ -4545,7 +4545,7 @@ void GCS_MAVLINK::send_sim_state() const
MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_int_t &packet)
{ {
if (packet.x != 290876) { if (packet.x != 290876) {
gcs().send_text(MAV_SEVERITY_INFO, "Magic not set"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Magic not set");
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
@ -4556,7 +4556,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_in
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
#if AP_SIGNED_FIRMWARE #if AP_SIGNED_FIRMWARE
case AP_HAL::Util::FlashBootloader::NOT_SIGNED: case AP_HAL::Util::FlashBootloader::NOT_SIGNED:
gcs().send_text(MAV_SEVERITY_ERROR, "Bootloader not signed"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Bootloader not signed");
break; break;
#endif #endif
default: default:
@ -4570,9 +4570,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_in
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro(const mavlink_message_t &msg) MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro(const mavlink_message_t &msg)
{ {
// fast barometer calibration // fast barometer calibration
gcs().send_text(MAV_SEVERITY_INFO, "Updating barometer calibration"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Updating barometer calibration");
AP::baro().update_calibration(); AP::baro().update_calibration();
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Barometer calibration complete");
#if AP_AIRSPEED_ENABLED #if AP_AIRSPEED_ENABLED
@ -4666,7 +4666,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_comma
{ {
if (hal.util->get_soft_armed()) { if (hal.util->get_soft_armed()) {
// *preflight*, remember? // *preflight*, remember?
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow calibration"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Disarm to allow calibration");
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
// now call subclass methods: // now call subclass methods:
@ -6401,7 +6401,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
// message as part of send_message. // message as part of send_message.
// This message will be sent out at the same rate as the // This message will be sent out at the same rate as the
// unknown message, so should be safe. // unknown message, so should be safe.
gcs().send_text(MAV_SEVERITY_DEBUG, "Sending unknown message (%u)", id); GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Sending unknown message (%u)", id);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Sending unknown ap_message %u", id); AP_HAL::panic("Sending unknown ap_message %u", id);
#endif #endif
@ -6747,7 +6747,7 @@ void GCS::update_passthru(void)
_passthru.baud2 = baud2; _passthru.baud2 = baud2;
_passthru.parity1 = parity1 = _passthru.port1->get_parity(); _passthru.parity1 = parity1 = _passthru.port1->get_parity();
_passthru.parity2 = parity2 = _passthru.port2->get_parity(); _passthru.parity2 = parity2 = _passthru.port2->get_parity();
gcs().send_text(MAV_SEVERITY_INFO, "Passthru enabled"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru enabled");
if (!_passthru.timer_installed) { if (!_passthru.timer_installed) {
_passthru.timer_installed = true; _passthru.timer_installed = true;
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&GCS::passthru_timer, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&GCS::passthru_timer, void));
@ -6772,7 +6772,7 @@ void GCS::update_passthru(void)
if (_passthru.parity2 != parity2) { if (_passthru.parity2 != parity2) {
_passthru.port2->configure_parity(parity2); _passthru.port2->configure_parity(parity2);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Passthru disabled"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru disabled");
} else if (enabled && } else if (enabled &&
_passthru.timeout_s && _passthru.timeout_s &&
now - _passthru.last_port1_data_ms > uint32_t(_passthru.timeout_s)*1000U) { now - _passthru.last_port1_data_ms > uint32_t(_passthru.timeout_s)*1000U) {
@ -6797,7 +6797,7 @@ void GCS::update_passthru(void)
if (_passthru.parity2 != parity2) { if (_passthru.parity2 != parity2) {
_passthru.port2->configure_parity(parity2); _passthru.port2->configure_parity(parity2);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Passthru timed out"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Passthru timed out");
} }
} }
@ -6893,7 +6893,7 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const MAV_FRAME
return true; return true;
default: default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Unknown mavlink coordinate frame %u", coordinate_frame); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unknown mavlink coordinate frame %u", coordinate_frame);
#endif #endif
return false; return false;
} }

4
libraries/GCS_MAVLink/GCS_FTP.cpp
View File

@ -63,7 +63,7 @@ bool GCS_MAVLINK::ftp_init(void) {
failed: failed:
delete ftp.requests; delete ftp.requests;
ftp.requests = nullptr; ftp.requests = nullptr;
gcs().send_text(MAV_SEVERITY_WARNING, "failed to initialize MAVFTP"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "failed to initialize MAVFTP");
return false; return false;
} }
@ -572,7 +572,7 @@ void GCS_MAVLINK::ftp_worker(void) {
case FTP_OP::TruncateFile: case FTP_OP::TruncateFile:
default: default:
// this was bad data, just nack it // this was bad data, just nack it
gcs().send_text(MAV_SEVERITY_DEBUG, "Unsupported FTP: %d", static_cast<int>(request.opcode)); GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Unsupported FTP: %d", static_cast<int>(request.opcode));
ftp_error(reply, FTP_ERROR::Fail); ftp_error(reply, FTP_ERROR::Fail);
break; break;
} }

2
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -290,7 +290,7 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg)
} }
if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) { if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Param write denied (%s)", key); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Param write denied (%s)", key);
// send the readonly value // send the readonly value
send_parameter_value(key, var_type, old_value); send_parameter_value(key, var_type, old_value);
return; return;

2
libraries/GCS_MAVLink/MAVLink_routing.cpp
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@ -101,7 +101,7 @@ bool MAVLink_routing::check_and_forward(GCS_MAVLINK &in_link, const mavlink_mess
// of mavlink messages to a private channel (Solo Gimbal case) // of mavlink messages to a private channel (Solo Gimbal case)
if (!gopro_status_check && (msg.msgid == MAVLINK_MSG_ID_GOPRO_HEARTBEAT)) { if (!gopro_status_check && (msg.msgid == MAVLINK_MSG_ID_GOPRO_HEARTBEAT)) {
gopro_status_check = true; gopro_status_check = true;
gcs().send_text(MAV_SEVERITY_NOTICE, "GoPro in Solo gimbal detected"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "GoPro in Solo gimbal detected");
} }
#endif // HAL_SOLO_GIMBAL_ENABLED #endif // HAL_SOLO_GIMBAL_ENABLED

8
libraries/GCS_MAVLink/MissionItemProtocol.cpp
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@ -47,7 +47,7 @@ bool MissionItemProtocol::mavlink2_requirement_met(const GCS_MAVLINK &_link, con
if (!_link.sending_mavlink1()) { if (!_link.sending_mavlink1()) {
return true; return true;
} }
gcs().send_text(MAV_SEVERITY_WARNING, "Need mavlink2 for item transfer"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Need mavlink2 for item transfer");
send_mission_ack(_link, msg, MAV_MISSION_UNSUPPORTED); send_mission_ack(_link, msg, MAV_MISSION_UNSUPPORTED);
return false; return false;
} }
@ -199,7 +199,7 @@ void MissionItemProtocol::handle_mission_request(GCS_MAVLINK &_link,
if (!mission_request_warning_sent) { if (!mission_request_warning_sent) {
mission_request_warning_sent = true; mission_request_warning_sent = true;
gcs().send_text(MAV_SEVERITY_WARNING, "got MISSION_REQUEST; use MISSION_REQUEST_INT!"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "got MISSION_REQUEST; use MISSION_REQUEST_INT!");
} }
// buffer space is checked by send_message // buffer space is checked by send_message
@ -213,7 +213,7 @@ void MissionItemProtocol::send_mission_item_warning()
return; return;
} }
mission_item_warning_sent = true; mission_item_warning_sent = true;
gcs().send_text(MAV_SEVERITY_WARNING, "got MISSION_ITEM; GCS should send MISSION_ITEM_INT"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "got MISSION_ITEM; GCS should send MISSION_ITEM_INT");
} }
void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link, void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
@ -238,7 +238,7 @@ void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
if ((unsigned)packet.start_index > item_count() || if ((unsigned)packet.start_index > item_count() ||
(unsigned)packet.end_index > item_count() || (unsigned)packet.end_index > item_count() ||
packet.end_index < packet.start_index) { packet.end_index < packet.start_index) {
gcs().send_text(MAV_SEVERITY_WARNING,"Flight plan update rejected"); // FIXME: Remove this anytime after 2020-01-22 GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"Flight plan update rejected"); // FIXME: Remove this anytime after 2020-01-22
send_mission_ack(_link, msg, MAV_MISSION_ERROR); send_mission_ack(_link, msg, MAV_MISSION_ERROR);
return; return;
} }

2
libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
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@ -222,7 +222,7 @@ MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_receive_resources(const u
if (allocation_size != 0) { if (allocation_size != 0) {
_new_items = (AC_PolyFenceItem*)malloc(allocation_size); _new_items = (AC_PolyFenceItem*)malloc(allocation_size);
if (_new_items == nullptr) { if (_new_items == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING, "Out of memory for upload"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Out of memory for upload");
return MAV_MISSION_ERROR; return MAV_MISSION_ERROR;
} }
} }