From 80fa66104290e43a980ac3927b62e4d96ed55da9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:21:25 +1100
Subject: [PATCH] ArduSub: move logger object up to AP_Vehicle

---
 ArduSub/Log.cpp        | 10 +++++-----
 ArduSub/Parameters.cpp | 11 +++++------
 ArduSub/Sub.cpp        |  3 ---
 ArduSub/Sub.h          | 11 +++++++----
 ArduSub/system.cpp     |  4 ----
 5 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 63d3feb8ff..45603f2d3a 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -275,6 +275,11 @@ const struct LogStructure Sub::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
+uint8_t Sub::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Sub::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -284,9 +289,4 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
 }
 
 
-void Sub::log_init()
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 168990b01f..82771fb808 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -561,12 +561,6 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
@@ -814,6 +808,11 @@ void Sub::load_parameters()
         AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
     }
 #endif
+
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
 }
 
 void Sub::convert_old_parameters()
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 304ed32724..877f3bf8c1 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -25,9 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
  */
 Sub::Sub()
     :
-#if HAL_LOGGING_ENABLED
-          logger(g.log_bitmask),
-#endif
           control_mode(Mode::Number::MANUAL),
           motors(MAIN_LOOP_RATE),
           auto_mode(Auto_WP),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 53de38af09..2419e0fc79 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -146,10 +146,6 @@ private:
     RC_Channel *channel_forward;
     RC_Channel *channel_lateral;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     AP_LeakDetector leak_detector;
 
     struct {
@@ -403,6 +399,13 @@ private:
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void rotate_body_frame_to_NE(float &x, float &y);
 #if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
     void Log_Write_Data(LogDataID id, int32_t value);
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index f86637c5a1..b72b9889c1 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -52,10 +52,6 @@ void Sub::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
     rc().init();