From a12ed2c99fe78015474a1db180d89b6e4620ba8f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 28 Apr 2021 19:13:53 +1000
Subject: [PATCH] RC_Channel: log auxillary function invocations

---
 libraries/RC_Channel/RC_Channel.cpp | 26 ++++++++++++++++++++++++++
 libraries/RC_Channel/RC_Channel.h   | 20 +++++++++++++++++---
 2 files changed, 43 insertions(+), 3 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index c82916b927..7143c74fdb 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -893,6 +893,32 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
     mission->reset();
 }
 
+bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
+{
+    const bool ret = do_aux_function(ch_option, pos);
+
+    // @LoggerMessage: AUXF
+    // @Description: Auixillary function invocation information
+    // @Field: TimeUS: Time since system startup
+    // @Field: function: ID of triggered function
+    // @Field: pos: switch position when function triggered
+    // @Field: source: source of auxillary function invocation
+    // @Field: result: true if function was successful
+    AP::logger().Write(
+        "AUXF",
+        "TimeUS,function,pos,source,result",
+        "s----",
+        "F----",
+        "QHBBB",
+        AP_HAL::micros64(),
+        uint16_t(ch_option),
+        uint8_t(pos),
+        uint8_t(source),
+        uint8_t(ret)
+        );
+    return ret;
+}
+
 bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 297bdb3b17..a335e4b7ba 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -238,11 +238,20 @@ public:
         HIGH       // indicates auxiliary switch is in the high position (pwm >1800)
     };
 
+    enum class AuxFuncTriggerSource : uint8_t {
+        INIT,
+        RC,
+        BUTTON,
+        MAVLINK,
+        MISSION,
+    };
+
     bool read_3pos_switch(AuxSwitchPos &ret) const WARN_IF_UNUSED;
     bool read_6pos_switch(int8_t& position) WARN_IF_UNUSED;
     AuxSwitchPos get_aux_switch_pos() const;
 
-    virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    // wrapper function around do_aux_function which allows us to log
+    bool run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
 
 #if !HAL_MINIMIZE_FEATURES
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -266,6 +275,9 @@ protected:
 
     virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
 
+    // virtual function to be overridden my subclasses
+    virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
+
     virtual void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
     void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
     void do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag);
@@ -483,8 +495,10 @@ public:
 
     uint32_t last_input_ms() const { return last_update_ms; };
 
-    bool do_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos) {
-        return rc_channel(0)->do_aux_function(ch_option, pos);
+    // method for other parts of the system (e.g. Button and mavlink)
+    // to trigger auxillary functions
+    bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTriggerSource source) {
+        return rc_channel(0)->run_aux_function(ch_option, pos, source);
     }
 
 protected: