AP_Logger: add support for AP_Logger into AP_Periph

libraries/AP_Logger/AP_Logger.cpp

@@ -92,12 +92,14 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_FILE_DSRMROT",  4, AP_Logger, _params.file_disarm_rot,       0),
 
+#if HAL_LOGGING_MAVLINK_ENABLED
     // @Param: _MAV_BUFSIZE
     // @DisplayName: Maximum AP_Logger MAVLink Backend buffer size
     // @Description: Maximum amount of memory to allocate to AP_Logger-over-mavlink
     // @User: Advanced
     // @Units: kB
     AP_GROUPINFO("_MAV_BUFSIZE",  5, AP_Logger, _params.mav_bufsize,       HAL_LOGGING_MAV_BUFSIZE),
+#endif
 
     // @Param: _FILE_TIMEOUT
     // @DisplayName: Timeout before giving up on file writes
@@ -136,7 +138,7 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
     _params.file_bufsize.convert_parameter_width(AP_PARAM_INT8);
 
     if (hal.util->was_watchdog_armed()) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Forcing logging for watchdog reset");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Forcing logging for watchdog reset");
         _params.log_disarmed.set(1);
     }
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -833,7 +835,9 @@ void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, const mavlink_message_t &m
 }
 
 void AP_Logger::periodic_tasks() {
+#ifndef HAL_BUILD_AP_PERIPH
     handle_log_send();
+#endif
     FOR_EACH_BACKEND(periodic_tasks());
 }
 

libraries/AP_Logger/AP_Logger.h

@@ -12,19 +12,19 @@
 // set default for HAL_LOGGING_DATAFLASH_ENABLED
 #ifndef HAL_LOGGING_DATAFLASH_ENABLED
     #ifdef HAL_LOGGING_DATAFLASH
-        #define HAL_LOGGING_DATAFLASH_ENABLED 1
+        #define HAL_LOGGING_DATAFLASH_ENABLED HAL_LOGGING_ENABLED
     #else
         #define HAL_LOGGING_DATAFLASH_ENABLED 0
     #endif
 #endif
 
 #ifndef HAL_LOGGING_MAVLINK_ENABLED
-    #define HAL_LOGGING_MAVLINK_ENABLED 1
+    #define HAL_LOGGING_MAVLINK_ENABLED HAL_LOGGING_ENABLED
 #endif
 
 #ifndef HAL_LOGGING_FILESYSTEM_ENABLED
     #if HAVE_FILESYSTEM_SUPPORT
-        #define HAL_LOGGING_FILESYSTEM_ENABLED 1
+        #define HAL_LOGGING_FILESYSTEM_ENABLED HAL_LOGGING_ENABLED
     #else
         #define HAL_LOGGING_FILESYSTEM_ENABLED 0
     #endif
@@ -32,7 +32,7 @@
 
 #ifndef HAL_LOGGING_SITL_ENABLED
     #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        #define HAL_LOGGING_SITL_ENABLED 1
+        #define HAL_LOGGING_SITL_ENABLED HAL_LOGGING_ENABLED
     #else
         #define HAL_LOGGING_SITL_ENABLED 0
     #endif

libraries/AP_Logger/AP_Logger_Backend.cpp

@@ -483,6 +483,7 @@ bool AP_Logger_Backend::Write_MessageF(const char *fmt, ...)
     return Write_Message(msg);
 }
 
+#if HAL_RALLY_ENABLED
 // Write rally points
 bool AP_Logger_Backend::Write_RallyPoint(uint8_t total,
                                          uint8_t sequence,
@@ -506,6 +507,7 @@ bool AP_Logger_Backend::Write_Rally()
     // kick off asynchronous write:
     return _startup_messagewriter->writeallrallypoints();
 }
+#endif
 
 /*
   convert a list entry number back into a log number (which can then

libraries/AP_Logger/AP_Logger_File.cpp

@@ -148,7 +148,7 @@ void AP_Logger_File::periodic_1Hz()
         if (io_thread_warning_decimation_counter == 0 && _initialised) {
             // we don't print this error unless we did initialise. When _initialised is set to true
             // we register the IO timer callback
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "AP_Logger: stuck thread (%s)", last_io_operation);
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "AP_Logger: stuck thread (%s)", last_io_operation);
         }
         if (io_thread_warning_decimation_counter++ > 57) {
             io_thread_warning_decimation_counter = 0;
@@ -972,7 +972,7 @@ bool AP_Logger_File::io_thread_alive() const
     // if the io thread hasn't had a heartbeat in a while then it is
     // considered dead. Three seconds is enough time for a sdcard remount.
     uint32_t timeout_ms = 3000;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
     // the IO thread is working with hardware - writing to a physical
     // disk.  Unfortunately these hardware devices do not obey our
     // SITL speedup options, so we allow for it here.

libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp

@@ -22,6 +22,8 @@
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h> // for LOG_ENTRY
 
+#ifndef HAL_NO_GCS
+
 extern const AP_HAL::HAL& hal;
 
 // We avoid doing log messages when timing is critical:
@@ -328,3 +330,5 @@ bool AP_Logger::handle_log_send_data()
     }
     return true;
 }
+
+#endif

libraries/AP_Logger/LogFile.cpp

@@ -264,11 +264,13 @@ bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
     return WriteBlock(&pkt, sizeof(pkt));
 }
 
+#if HAL_MISSION_ENABLED
 bool AP_Logger_Backend::Write_EntireMission()
 {
     // kick off asynchronous write:
     return _startup_messagewriter->writeentiremission();
 }
+#endif
 
 // Write a text message to the log
 bool AP_Logger_Backend::Write_Message(const char *message)

libraries/AP_Logger/LoggerMessageWriter.cpp

@@ -24,7 +24,11 @@ void LoggerMessageWriter::reset()
 
 bool LoggerMessageWriter::out_of_time_for_writing_messages() const
 {
+#if HAL_SCHEDULER_ENABLED
     return AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US;
+#else
+    return false;
+#endif
 }
 
 void LoggerMessageWriter_DFLogStart::reset()
@@ -34,8 +38,12 @@ void LoggerMessageWriter_DFLogStart::reset()
     _fmt_done = false;
     _params_done = false;
     _writesysinfo.reset();
+#if HAL_MISSION_ENABLED
     _writeentiremission.reset();
+#endif
+#if HAL_RALLY_ENABLED
     _writeallrallypoints.reset();
+#endif
 
     stage = Stage::FORMATS;
     next_format_to_send = 0;
@@ -49,7 +57,11 @@ bool LoggerMessageWriter_DFLogStart::out_of_time_for_writing_messages() const
 {
     if (stage == Stage::FORMATS) {
         // write out the FMT messages as fast as we can
+#if HAL_SCHEDULER_ENABLED
         return AP::scheduler().time_available_usec() == 0;
+#else
+        return false;
+#endif
     }
     return LoggerMessageWriter::out_of_time_for_writing_messages();
 }
@@ -122,18 +134,22 @@ void LoggerMessageWriter_DFLogStart::process()
                 return;
             }
         }
+#if HAL_MISSION_ENABLED
         if (!_writeentiremission.finished()) {
             _writeentiremission.process();
             if (!_writeentiremission.finished()) {
                 return;
             }
         }
+#endif
+#if HAL_RALLY_ENABLED
         if (!_writeallrallypoints.finished()) {
             _writeallrallypoints.process();
             if (!_writeallrallypoints.finished()) {
                 return;
             }
         }
+#endif
         stage = Stage::VEHICLE_MESSAGES;
         FALLTHROUGH;
 
@@ -157,6 +173,7 @@ void LoggerMessageWriter_DFLogStart::process()
     _finished = true;
 }
 
+#if HAL_MISSION_ENABLED
 bool LoggerMessageWriter_DFLogStart::writeentiremission()
 {
     if (stage != Stage::DONE) {
@@ -167,7 +184,9 @@ bool LoggerMessageWriter_DFLogStart::writeentiremission()
     _writeentiremission.reset();
     return true;
 }
+#endif
 
+#if HAL_RALLY_ENABLED
 bool LoggerMessageWriter_DFLogStart::writeallrallypoints()
 {
     if (stage != Stage::DONE) {
@@ -178,6 +197,7 @@ bool LoggerMessageWriter_DFLogStart::writeallrallypoints()
     _writeallrallypoints.reset();
     return true;
 }
+#endif
 
 void LoggerMessageWriter_WriteSysInfo::reset()
 {

libraries/AP_Logger/LoggerMessageWriter.h

@@ -75,17 +75,25 @@ private:
 class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
 public:
     LoggerMessageWriter_DFLogStart() :
-        _writesysinfo(),
+        _writesysinfo()
-        _writeentiremission(),
+#if HAL_MISSION_ENABLED
-        _writeallrallypoints()
+        , _writeentiremission()
+#endif
+#if HAL_RALLY_ENABLED
+        , _writeallrallypoints()
+#endif
         {
         }
 
     virtual void set_logger_backend(class AP_Logger_Backend *backend) override {
         LoggerMessageWriter::set_logger_backend(backend);
         _writesysinfo.set_logger_backend(backend);
+#if HAL_MISSION_ENABLED
         _writeentiremission.set_logger_backend(backend);
+#endif
+#if HAL_RALLY_ENABLED
         _writeallrallypoints.set_logger_backend(backend);
+#endif
     }
 
     bool out_of_time_for_writing_messages() const;
@@ -97,8 +105,12 @@ public:
 
     // reset some writers so we push stuff out to logs again.  Will
     // only work if we are in state DONE!
+#if HAL_MISSION_ENABLED
     bool writeentiremission();
+#endif
+#if HAL_RALLY_ENABLED
     bool writeallrallypoints();
+#endif
 
 private:
 
@@ -130,6 +142,10 @@ private:
 
 
     LoggerMessageWriter_WriteSysInfo _writesysinfo;
+#if HAL_MISSION_ENABLED
     LoggerMessageWriter_WriteEntireMission _writeentiremission;
+#endif
+#if HAL_RALLY_ENABLED
     LoggerMessageWriter_WriteAllRallyPoints _writeallrallypoints;
+#endif
 };