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Rover: correct compilation when HAL_LOGGING_ENABLED is false

This commit is contained in:
Peter Barker 2024-01-10 15:21:43 +11:00 committed by Andrew Tridgell
parent b94fc26c5f
commit 8bdd0294b8
14 changed files with 52 additions and 22 deletions
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2
Rover/AP_Arming.cpp
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@ -106,7 +106,9 @@ void AP_Arming_Rover::update_soft_armed()
{
hal.util->set_soft_armed(is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
#if HAL_LOGGING_ENABLED
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
#endif
}
/*

4
Rover/GCS_Mavlink.cpp
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@ -1065,7 +1065,11 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
{
#if HAL_LOGGING_ENABLED
handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
#else
handle_radio_status(msg, false);
#endif
}
/*

2
Rover/Log.cpp
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@ -2,7 +2,7 @@
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#if LOGGING_ENABLED == ENABLED
#if HAL_LOGGING_ENABLED
// Write an attitude packet
void Rover::Log_Write_Attitude()

2
Rover/Parameters.cpp
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@ -316,9 +316,11 @@ const AP_Param::Info Rover::var_info[] = {
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming),
#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

13
Rover/Rover.cpp
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@ -89,8 +89,10 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100, 30),
SCHED_TASK(update_wheel_encoder, 50, 200, 36),
SCHED_TASK(update_compass, 10, 200, 39),
#if HAL_LOGGING_ENABLED
SCHED_TASK(update_logging1, 10, 200, 45),
SCHED_TASK(update_logging2, 10, 200, 48),
#endif
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500, 51),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000, 54),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200, 57),
@ -123,11 +125,13 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90, 99),
#endif
SCHED_TASK(compass_save, 0.1, 200, 105),
#if LOGGING_ENABLED == ENABLED
#if HAL_LOGGING_ENABLED
SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300, 108),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200, 111),
#if HAL_LOGGING_ENABLED
SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200, 114),
#endif
#if HAL_BUTTON_ENABLED
SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200, 117),
#endif
@ -156,7 +160,9 @@ constexpr int8_t Rover::_failsafe_priorities[7];
Rover::Rover(void) :
AP_Vehicle(),
param_loader(var_info),
#if HAL_LOGGING_ENABLED
logger{g.log_bitmask},
#endif
modes(&g.mode1),
control_mode(&mode_initializing)
{
@ -336,6 +342,7 @@ void Rover::ahrs_update()
ground_speed = ahrs.groundspeed();
}
#if HAL_LOGGING_ENABLED
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
Log_Write_Sail();
@ -348,6 +355,7 @@ void Rover::ahrs_update()
if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
ahrs.write_video_stabilisation();
}
#endif
}
/*
@ -376,6 +384,7 @@ void Rover::gcs_failsafe_check(void)
failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", do_failsafe);
}
#if HAL_LOGGING_ENABLED
/*
log some key data - 10Hz
*/
@ -435,7 +444,7 @@ void Rover::update_logging2(void)
}
#endif
}
#endif // HAL_LOGGING_ENABLED
/*
once a second events

4
Rover/Rover.h
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@ -136,7 +136,9 @@ private:
RC_Channel *channel_pitch;
RC_Channel *channel_walking_height;
#if HAL_LOGGING_ENABLED
AP_Logger logger;
#endif
// flight modes convenience array
AP_Int8 *modes;
@ -226,7 +228,9 @@ private:
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
#if HAL_LOGGING_ENABLED
static const LogStructure log_structure[];
#endif
// time that rudder/steering arming has been running
uint32_t rudder_arm_timer;

7
Rover/config.h
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@ -45,13 +45,6 @@
#define CRUISE_SPEED 2 // in m/s
#endif
//////////////////////////////////////////////////////////////////////////////
// Logging control
//
#ifndef LOGGING_ENABLED
#define LOGGING_ENABLED ENABLED
#endif
#define DEFAULT_LOG_BITMASK 0xffff
//////////////////////////////////////////////////////////////////////////////

2
Rover/crash_check.cpp
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@ -45,7 +45,7 @@ void Rover::crash_check()
}
if (crashed) {
AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK,
LogErrorCode::CRASH_CHECK_CRASH);
if (is_balancebot()) {

8
Rover/cruise_learn.cpp
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@ -15,7 +15,9 @@ void Rover::cruise_learn_start()
cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
cruise_learn.learn_start_ms = AP_HAL::millis();
cruise_learn.log_count = 0;
#if HAL_LOGGING_ENABLED
log_write_cruise_learn();
#endif
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
}
@ -29,10 +31,12 @@ void Rover::cruise_learn_update()
cruise_learn.speed_filt.apply(speed, 0.02f);
cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
// 10Hz logging
#if HAL_LOGGING_ENABLED
if (cruise_learn.log_count % 5 == 0) {
log_write_cruise_learn();
}
cruise_learn.log_count += 1;
#endif
// check how long it took to learn
if (AP_HAL::millis() - cruise_learn.learn_start_ms >= 2000) {
cruise_learn_complete();
@ -56,10 +60,13 @@ void Rover::cruise_learn_complete()
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
}
cruise_learn.learn_start_ms = 0;
#if HAL_LOGGING_ENABLED
log_write_cruise_learn();
#endif
}
}
#if HAL_LOGGING_ENABLED
// logging for cruise learn
void Rover::log_write_cruise_learn() const
{
@ -77,3 +84,4 @@ void Rover::log_write_cruise_learn() const
cruise_learn.speed_filt.get(),
cruise_learn.throttle_filt.get());
}
#endif

8
Rover/ekf_check.cpp
View File

@ -53,7 +53,7 @@ void Rover::ekf_check()
ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
ekf_check_state.bad_variance = true;
AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
LogErrorCode::EKFCHECK_BAD_VARIANCE);
// send message to gcs
if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
@ -71,7 +71,7 @@ void Rover::ekf_check()
// if variance is flagged as bad and the counter reaches zero then clear flag
if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
ekf_check_state.bad_variance = false;
AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
// clear failsafe
failsafe_ekf_off_event();
@ -156,7 +156,7 @@ void Rover::failsafe_ekf_event()
// EKF failsafe event has occurred
failsafe.ekf = true;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
LogErrorCode::FAILSAFE_OCCURRED);
// does this mode require position?
@ -189,7 +189,7 @@ void Rover::failsafe_ekf_off_event(void)
}
failsafe.ekf = false;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
LogErrorCode::FAILSAFE_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe cleared");
}

4
Rover/fence.cpp
View File

@ -51,11 +51,11 @@ void Rover::fence_check()
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
}
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
} else if (orig_breaches) {
// record clearing of breach
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE,
LogErrorCode::ERROR_RESOLVED);
}
#endif // AP_FENCE_ENABLED

2
Rover/mode_auto.cpp
View File

@ -512,10 +512,12 @@ void ModeAuto::send_guided_position_target()
/********************************************************************************/
bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{
#if HAL_LOGGING_ENABLED
// log when new commands start
if (rover.should_log(MASK_LOG_CMD)) {
rover.logger.Write_Mission_Cmd(mission, cmd);
}
#endif
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint

2
Rover/mode_dock.cpp
View File

@ -171,6 +171,7 @@ void ModeDock::update()
calc_steering_from_turn_rate(desired_turn_rate);
calc_throttle(desired_speed, true);
#if HAL_LOGGING_ENABLED
// @LoggerMessage: DOCK
// @Description: Dock mode target information
// @Field: TimeUS: Time since system startup
@ -196,6 +197,7 @@ void ModeDock::update()
target_cm.y,
desired_speed,
desired_turn_rate);
#endif
}
float ModeDock::apply_slowdown(float desired_speed)

10
Rover/system.cpp
View File

@ -54,7 +54,7 @@ void Rover::init_ardupilot()
osd.init();
#endif
#if LOGGING_ENABLED == ENABLED
#if HAL_LOGGING_ENABLED
log_init();
#endif
@ -179,7 +179,7 @@ void Rover::startup_ground(void)
mode_auto.mission.init();
// initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED
#if HAL_LOGGING_ENABLED
logger.setVehicle_Startup_Writer(
FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
);
@ -259,7 +259,7 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
Mode &old_mode = *control_mode;
if (!new_mode.enter()) {
// Log error that we failed to enter desired flight mode
AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE,
LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE,
LogErrorCode(new_mode.mode_number()));
gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
return false;
@ -281,7 +281,9 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
old_mode.exit();
control_mode_reason = reason;
#if HAL_LOGGING_ENABLED
logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
#endif
gcs().send_message(MSG_HEARTBEAT);
notify_mode(control_mode);
@ -340,6 +342,7 @@ uint8_t Rover::check_digital_pin(uint8_t pin)
return hal.gpio->read(pin);
}
#if HAL_LOGGING_ENABLED
/*
should we log a message type now?
*/
@ -347,6 +350,7 @@ bool Rover::should_log(uint32_t mask)
{
return logger.should_log(mask);
}
#endif
// returns true if vehicle is a boat
// this affects whether the vehicle tries to maintain position after reaching waypoints