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AP_Landing: stop libraries including AP_Logger.h in .h files

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AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
This commit is contained in:
Peter Barker 2022-03-04 14:29:46 +11:00 committed by Peter Barker
parent 6a97056736
commit 8ec0eed749
5 changed files with 7 additions and 5 deletions
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2
libraries/AP_Landing/AP_Landing.cpp
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@ -408,7 +408,7 @@ bool AP_Landing::override_servos(void) {
// returns a PID_Info object if there is one available for the selected landing // returns a PID_Info object if there is one available for the selected landing
// type, otherwise returns a nullptr, indicating no data to be logged/sent // type, otherwise returns a nullptr, indicating no data to be logged/sent
const AP_Logger::PID_Info* AP_Landing::get_pid_info(void) const const AP_PIDInfo* AP_Landing::get_pid_info(void) const
{ {
switch (type) { switch (type) {
#if HAL_LANDING_DEEPSTALL_ENABLED #if HAL_LANDING_DEEPSTALL_ENABLED

2
libraries/AP_Landing/AP_Landing.h
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@ -109,7 +109,7 @@ public:
void set_initial_slope(void) { initial_slope = slope; } void set_initial_slope(void) { initial_slope = slope; }
bool is_expecting_impact(void) const; bool is_expecting_impact(void) const;
void Log(void) const; void Log(void) const;
const AP_Logger::PID_Info * get_pid_info(void) const; const AP_PIDInfo * get_pid_info(void) const;
// landing altitude offset (meters) // landing altitude offset (meters)
float alt_offset; float alt_offset;

5
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -26,6 +26,7 @@
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h>
// table of user settable parameters for deepstall // table of user settable parameters for deepstall
const AP_Param::GroupInfo AP_Landing_Deepstall::var_info[] = { const AP_Param::GroupInfo AP_Landing_Deepstall::var_info[] = {
@ -448,13 +449,13 @@ bool AP_Landing_Deepstall::send_deepstall_message(mavlink_channel_t chan) const
return true; return true;
} }
const AP_Logger::PID_Info& AP_Landing_Deepstall::get_pid_info(void) const const AP_PIDInfo& AP_Landing_Deepstall::get_pid_info(void) const
{ {
return ds_PID.get_pid_info(); return ds_PID.get_pid_info();
} }
void AP_Landing_Deepstall::Log(void) const { void AP_Landing_Deepstall::Log(void) const {
const AP_Logger::PID_Info& pid_info = ds_PID.get_pid_info(); const AP_PIDInfo& pid_info = ds_PID.get_pid_info();
struct log_DSTL pkt = { struct log_DSTL pkt = {
LOG_PACKET_HEADER_INIT(LOG_DSTL_MSG), LOG_PACKET_HEADER_INIT(LOG_DSTL_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),

2
libraries/AP_Landing/AP_Landing_Deepstall.h
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@ -100,7 +100,7 @@ private:
bool send_deepstall_message(mavlink_channel_t chan) const; bool send_deepstall_message(mavlink_channel_t chan) const;
const AP_Logger::PID_Info& get_pid_info(void) const; const AP_PIDInfo& get_pid_info(void) const;
//private helpers //private helpers
void build_approach_path(bool use_current_heading); void build_approach_path(bool use_current_heading);

1
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -23,6 +23,7 @@
#include <AP_LandingGear/AP_LandingGear.h> #include <AP_LandingGear/AP_LandingGear.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_Logger/AP_Logger.h>
void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude) void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{ {