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AC_Fence: allow compilation with HAL_LOGGING_ENABLED false

This commit is contained in:
Peter Barker 2023-07-14 10:58:04 +10:00 committed by Andrew Tridgell
parent b1c29c5033
commit 78daf8911b
2 changed files with 8 additions and 0 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
View File

@ -160,11 +160,13 @@ AC_Fence::AC_Fence()
/// enable the Fence code generally; a master switch for all fences
void AC_Fence::enable(bool value)
{
#if HAL_LOGGING_ENABLED
if (_enabled && !value) {
AP::logger().Write_Event(LogEvent::FENCE_DISABLE);
} else if (!_enabled && value) {
AP::logger().Write_Event(LogEvent::FENCE_ENABLE);
}
#endif
_enabled.set(value);
if (!value) {
clear_breach(AC_FENCE_TYPE_ALT_MIN | AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON);
@ -177,19 +179,23 @@ void AC_Fence::enable(bool value)
/// enable/disable fence floor only
void AC_Fence::enable_floor()
{
#if HAL_LOGGING_ENABLED
if (!_floor_enabled) {
// Floor is currently disabled, enable it
AP::logger().Write_Event(LogEvent::FENCE_FLOOR_ENABLE);
}
#endif
_floor_enabled = true;
}
void AC_Fence::disable_floor()
{
#if HAL_LOGGING_ENABLED
if (_floor_enabled) {
// Floor is currently enabled, disable it
AP::logger().Write_Event(LogEvent::FENCE_FLOOR_DISABLE);
}
#endif
_floor_enabled = false;
clear_breach(AC_FENCE_TYPE_ALT_MIN);
}

2
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -1121,8 +1121,10 @@ bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_
gcs().send_text(MAV_SEVERITY_DEBUG, "Fence Indexed OK");
#endif
#if HAL_LOGGING_ENABLED
// start logger logging new fence
AP::logger().Write_Fence();
#endif
void_index();