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AP_Logger: move handling Write_Event into AP_Logger

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This commit is contained in:
Peter Barker 2019-02-01 22:29:43 +11:00 committed by Randy Mackay
parent bb76143095
commit 78e76b84b2
3 changed files with 83 additions and 0 deletions
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11
libraries/AP_Logger/AP_Logger.cpp
View File

@ -1056,6 +1056,17 @@ bool AP_Logger::Write_ISBD(const uint16_t isb_seqno,
return backends[0]->WriteBlock(&pkt, sizeof(pkt));
}
// Wrote an event packet
void AP_Logger::Write_Event(Log_Event id)
{
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
time_us : AP_HAL::micros64(),
id : id
};
WriteCriticalBlock(&pkt, sizeof(pkt));
}
AP_Logger &AP::logger()
{
return *AP_Logger::instance();

64
libraries/AP_Logger/AP_Logger.h
View File

@ -37,6 +37,69 @@ enum AP_Logger_Backend_Type {
DATAFLASH_BACKEND_BLOCK = (1<<2),
};
// do not do anything here apart from add stuff; maintaining older
// entries means log analysis is easier
enum Log_Event : uint8_t {
DATA_AP_STATE = 7,
// DATA_SYSTEM_TIME_SET = 8,
DATA_INIT_SIMPLE_BEARING = 9,
DATA_ARMED = 10,
DATA_DISARMED = 11,
DATA_AUTO_ARMED = 15,
DATA_LAND_COMPLETE_MAYBE = 17,
DATA_LAND_COMPLETE = 18,
DATA_NOT_LANDED = 28,
DATA_LOST_GPS = 19,
DATA_FLIP_START = 21,
DATA_FLIP_END = 22,
DATA_SET_HOME = 25,
DATA_SET_SIMPLE_ON = 26,
DATA_SET_SIMPLE_OFF = 27,
DATA_SET_SUPERSIMPLE_ON = 29,
DATA_AUTOTUNE_INITIALISED = 30,
DATA_AUTOTUNE_OFF = 31,
DATA_AUTOTUNE_RESTART = 32,
DATA_AUTOTUNE_SUCCESS = 33,
DATA_AUTOTUNE_FAILED = 34,
DATA_AUTOTUNE_REACHED_LIMIT = 35,
DATA_AUTOTUNE_PILOT_TESTING = 36,
DATA_AUTOTUNE_SAVEDGAINS = 37,
DATA_SAVE_TRIM = 38,
DATA_SAVEWP_ADD_WP = 39,
DATA_FENCE_ENABLE = 41,
DATA_FENCE_DISABLE = 42,
DATA_ACRO_TRAINER_DISABLED = 43,
DATA_ACRO_TRAINER_LEVELING = 44,
DATA_ACRO_TRAINER_LIMITED = 45,
DATA_GRIPPER_GRAB = 46,
DATA_GRIPPER_RELEASE = 47,
DATA_PARACHUTE_DISABLED = 49,
DATA_PARACHUTE_ENABLED = 50,
DATA_PARACHUTE_RELEASED = 51,
DATA_LANDING_GEAR_DEPLOYED = 52,
DATA_LANDING_GEAR_RETRACTED = 53,
DATA_MOTORS_EMERGENCY_STOPPED = 54,
DATA_MOTORS_EMERGENCY_STOP_CLEARED = 55,
DATA_MOTORS_INTERLOCK_DISABLED = 56,
DATA_MOTORS_INTERLOCK_ENABLED = 57,
DATA_ROTOR_RUNUP_COMPLETE = 58, // Heli only
DATA_ROTOR_SPEED_BELOW_CRITICAL = 59, // Heli only
DATA_EKF_ALT_RESET = 60,
DATA_LAND_CANCELLED_BY_PILOT = 61,
DATA_EKF_YAW_RESET = 62,
DATA_AVOIDANCE_ADSB_ENABLE = 63,
DATA_AVOIDANCE_ADSB_DISABLE = 64,
DATA_AVOIDANCE_PROXIMITY_ENABLE = 65,
DATA_AVOIDANCE_PROXIMITY_DISABLE = 66,
DATA_GPS_PRIMARY_CHANGED = 67,
DATA_WINCH_RELAXED = 68,
DATA_WINCH_LENGTH_CONTROL = 69,
DATA_WINCH_RATE_CONTROL = 70,
DATA_ZIGZAG_STORE_A = 71,
DATA_ZIGZAG_STORE_B = 72,
DATA_LAND_REPO_ACTIVE = 73,
};
// fwd declarations to avoid include errors
class AC_AttitudeControl;
class AC_PosControl;
@ -88,6 +151,7 @@ public:
void StopLogging();
void Write_Parameter(const char *name, float value);
void Write_Event(Log_Event id);
void Write_GPS(uint8_t instance, uint64_t time_us=0);
void Write_RFND(const RangeFinder &rangefinder);
void Write_IMU();

8
libraries/AP_Logger/LogStructure.h
View File

@ -158,6 +158,11 @@ struct PACKED log_DSF {
uint32_t buf_space_avg;
};
struct PACKED log_Event {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
};
struct PACKED log_GPS {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -1460,6 +1465,8 @@ Format characters in the format string for binary log messages
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" }, \
{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
{ LOG_EVENT_MSG, sizeof(log_Event), \
"EV", "QB", "TimeUS,Id", "s-", "F-" }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
// #endif
@ -1616,6 +1623,7 @@ enum LogMessages : uint8_t {
LOG_ASP2_MSG,
LOG_PERFORMANCE_MSG,
LOG_OPTFLOW_MSG,
LOG_EVENT_MSG,
_LOG_LAST_MSG_
};