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Replay: added ARM message to logs, and auto ARM/DISARM

This commit is contained in:
Andrew Tridgell 2015-05-15 12:43:36 +10:00
parent 11f70da8b4
commit 4e3d18bee4
3 changed files with 31 additions and 0 deletions
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6
Tools/Replay/LogReader.cpp
View File

@ -26,6 +26,7 @@
#include "MsgHandler_IMU3.h"
#include "MsgHandler_SIM.h"
#include "MsgHandler_BARO.h"
#include "MsgHandler_ARM.h"
#include "MsgHandler_AHR2.h"
#include "MsgHandler_ATT.h"
#include "MsgHandler_MAG.h"
@ -120,6 +121,8 @@ bool LogReader::update(char type[5])
memcpy(name, f.name, 4);
::printf("Defining log format for type (%d) (%s)\n", f.type, name);
dataflash.WriteBlock(&f, sizeof(f));
// map from format name to a parser subclass:
if (streq(name, "PARM")) {
parameter_handler = new MsgHandler_PARM(formats[f.type], dataflash,
@ -159,6 +162,9 @@ bool LogReader::update(char type[5])
} else if (streq(name, "BARO")) {
msgparser[f.type] = new MsgHandler_BARO(formats[f.type], dataflash,
last_timestamp_usec, baro);
} else if (streq(name, "ARM")) {
msgparser[f.type] = new MsgHandler_ARM(formats[f.type], dataflash,
last_timestamp_usec);
} else if (streq(name, "AHR2")) {
msgparser[f.type] = new MsgHandler_AHR2(formats[f.type], dataflash,
last_timestamp_usec,

14
Tools/Replay/MsgHandler_ARM.cpp Normal file
View File

@ -0,0 +1,14 @@
#include "MsgHandler_ARM.h"
extern const AP_HAL::HAL& hal;
void MsgHandler_ARM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t ArmState = require_field_uint8_t(msg, "ArmState");
hal.util->set_soft_armed(ArmState);
printf("Armed state: %u at %lu\n",
(unsigned)ArmState,
(unsigned long)hal.scheduler->millis());
dataflash.WriteBlock(msg, f.length);
}

11
Tools/Replay/MsgHandler_ARM.h Normal file
View File

@ -0,0 +1,11 @@
#include "MsgHandler.h"
class MsgHandler_ARM : public MsgHandler
{
public:
MsgHandler_ARM(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec)
: MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
virtual void process_message(uint8_t *msg);
};