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https://github.com/ArduPilot/ardupilot
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Rover: Log.cpp correct whitespace, remove tabs
This commit is contained in:
Pierre Kancir
Randy Mackay
parent
d33f67e0c4
commit
5858c84f83
@ -12,10 +12,10 @@
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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static const struct Menu::command log_menu_commands[] = {
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{"dump", MENU_FUNC(dump_log)},
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{"erase", MENU_FUNC(erase_logs)},
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{"enable", MENU_FUNC(select_logs)},
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{"disable", MENU_FUNC(select_logs)}
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{"dump", MENU_FUNC(dump_log)},
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{"erase", MENU_FUNC(erase_logs)},
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{"enable", MENU_FUNC(select_logs)},
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{"disable", MENU_FUNC(select_logs)}
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};
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// A Macro to create the Menu
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@ -23,37 +23,37 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&rover, &Rover::print_log
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bool Rover::print_log_menu(void)
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{
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cliSerial->print("logs enabled: ");
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cliSerial->print("logs enabled: ");
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if (0 == g.log_bitmask) {
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cliSerial->print("none");
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}else{
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// the bit being set and print the name of the log option to suit.
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#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", #_s)
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PLOG(ATTITUDE_FAST);
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PLOG(ATTITUDE_MED);
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PLOG(GPS);
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PLOG(PM);
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(IMU);
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PLOG(CMD);
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PLOG(CURRENT);
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PLOG(SONAR);
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PLOG(COMPASS);
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PLOG(CAMERA);
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PLOG(STEERING);
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#undef PLOG
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}
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if (0 == g.log_bitmask) {
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cliSerial->print("none");
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} else {
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// the bit being set and print the name of the log option to suit.
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#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", #_s)
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PLOG(ATTITUDE_FAST);
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PLOG(ATTITUDE_MED);
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PLOG(GPS);
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PLOG(PM);
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(IMU);
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PLOG(CMD);
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PLOG(CURRENT);
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PLOG(SONAR);
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PLOG(COMPASS);
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PLOG(CAMERA);
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PLOG(STEERING);
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#undef PLOG
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}
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cliSerial->println();
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cliSerial->println();
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DataFlash.ListAvailableLogs(cliSerial);
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return(true);
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return(true);
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}
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int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
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@ -93,63 +93,63 @@ int8_t Rover::erase_logs(uint8_t argc, const Menu::arg *argv)
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int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
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{
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uint16_t bits;
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uint16_t bits;
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if (argc != 2) {
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cliSerial->println("missing log type");
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return(-1);
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}
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if (argc != 2) {
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cliSerial->println("missing log type");
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return(-1);
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}
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bits = 0;
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bits = 0;
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// that name as the argument to the command, and set the bit in
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// bits accordingly.
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//
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if (!strcasecmp(argv[1].str, "all")) {
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bits = ~0;
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} else {
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#define TARG(_s) if (!strcasecmp(argv[1].str, #_s)) bits |= MASK_LOG_ ## _s
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TARG(ATTITUDE_FAST);
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TARG(ATTITUDE_MED);
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TARG(GPS);
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TARG(PM);
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TARG(CTUN);
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TARG(NTUN);
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TARG(MODE);
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TARG(IMU);
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TARG(CMD);
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TARG(CURRENT);
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TARG(SONAR);
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TARG(COMPASS);
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TARG(CAMERA);
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TARG(STEERING);
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#undef TARG
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}
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// that name as the argument to the command, and set the bit in
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// bits accordingly.
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//
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if (!strcasecmp(argv[1].str, "all")) {
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bits = ~0;
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} else {
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#define TARG(_s) if (!strcasecmp(argv[1].str, #_s)) bits |= MASK_LOG_ ## _s
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TARG(ATTITUDE_FAST);
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TARG(ATTITUDE_MED);
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TARG(GPS);
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TARG(PM);
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TARG(CTUN);
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TARG(NTUN);
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TARG(MODE);
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TARG(IMU);
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TARG(CMD);
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TARG(CURRENT);
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TARG(SONAR);
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TARG(COMPASS);
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TARG(CAMERA);
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TARG(STEERING);
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#undef TARG
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}
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if (!strcasecmp(argv[0].str, "enable")) {
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g.log_bitmask.set_and_save(g.log_bitmask | bits);
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}else{
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g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
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}
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return(0);
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if (!strcasecmp(argv[0].str, "enable")) {
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g.log_bitmask.set_and_save(g.log_bitmask | bits);
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} else {
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g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
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}
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return(0);
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}
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int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv)
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{
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log_menu.run();
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return 0;
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log_menu.run();
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return 0;
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}
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#endif // CLI_ENABLED == ENABLED
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#endif // CLI_ENABLED == ENABLED
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void Rover::do_erase_logs(void)
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{
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cliSerial->printf("\nErasing log...\n");
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cliSerial->printf("\nErasing log...\n");
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DataFlash.EraseAll();
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cliSerial->printf("\nLog erased.\n");
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cliSerial->printf("\nLog erased.\n");
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}
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@ -179,7 +179,7 @@ void Rover::Log_Write_Performance()
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gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
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gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
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i2c_lockup_count: 0,
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ins_error_count : ins.error_count()
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ins_error_count : ins.error_count()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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@ -277,16 +277,16 @@ void Rover::Log_Write_Nav_Tuning()
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// Write an attitude packet
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void Rover::Log_Write_Attitude()
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{
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Vector3f targets(0,0,0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
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Vector3f targets(0, 0, 0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if defined(OPTFLOW) and (OPTFLOW == ENABLED)
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DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
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#else
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DataFlash.Log_Write_EKF(ahrs,false);
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#endif
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#if defined(OPTFLOW) and (OPTFLOW == ENABLED)
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DataFlash.Log_Write_EKF(ahrs, optflow.enabled());
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#else
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DataFlash.Log_Write_EKF(ahrs, false);
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#endif
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DataFlash.Log_Write_AHRS2(ahrs);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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@ -439,19 +439,19 @@ void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_targ
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const LogStructure Rover::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "QIHIhhhBH", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "QBH", "TimeUS,SType,CTot" },
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT" },
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{ LOG_SONAR_MSG, sizeof(log_Sonar),
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{ LOG_SONAR_MSG, sizeof(log_Sonar),
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"SONR", "QfHHHbHCb", "TimeUS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
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{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
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"ARM", "QBH", "TimeUS,ArmState,ArmChecks" },
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{ LOG_STEERING_MSG, sizeof(log_Steering),
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{ LOG_STEERING_MSG, sizeof(log_Steering),
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"STER", "Qff", "TimeUS,Demanded,Achieved" },
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
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@ -461,21 +461,21 @@ const LogStructure Rover::log_structure[] = {
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void Rover::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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if (!DataFlash.CardInserted()) {
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gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
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} else if (DataFlash.NeedPrep()) {
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gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
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DataFlash.Prep();
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gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
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for (uint8_t i=0; i<num_gcs; i++) {
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for (uint8_t i=0; i < num_gcs; i++) {
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gcs[i].reset_cli_timeout();
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}
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}
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if (g.log_bitmask != 0) {
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start_logging();
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}
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if (g.log_bitmask != 0) {
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start_logging();
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}
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}
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#if CLI_ENABLED == ENABLED
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@ -488,11 +488,11 @@ void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page
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cliSerial->println(HAL_BOARD_NAME);
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DataFlash.LogReadProcess(list_entry, start_page, end_page,
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DataFlash.LogReadProcess(list_entry, start_page, end_page,
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FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),
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cliSerial);
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}
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#endif // CLI_ENABLED
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#endif // CLI_ENABLED
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void Rover::Log_Write_Vehicle_Startup_Messages()
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{
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@ -502,7 +502,7 @@ void Rover::Log_Write_Vehicle_Startup_Messages()
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}
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// start a new log
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void Rover::start_logging()
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void Rover::start_logging()
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{
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in_mavlink_delay = true;
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DataFlash.set_mission(&mission);
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@ -513,7 +513,7 @@ void Rover::start_logging()
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in_mavlink_delay = false;
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}
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#else // LOGGING_ENABLED
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#else // LOGGING_ENABLED
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// dummy functions
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void Rover::Log_Write_Startup(uint8_t type) {}
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@ -527,4 +527,4 @@ void Rover::Log_Write_Attitude() {}
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void Rover::start_logging() {}
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void Rover::Log_Write_RC(void) {}
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#endif // LOGGING_ENABLED
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#endif // LOGGING_ENABLED
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