mirror of https://github.com/ArduPilot/ardupilot
AP_AIS: correct compilation when HAL_LOGGING_ENABLED is false
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
8e91c72089
commit
b94fc26c5f
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@ -31,6 +31,7 @@
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_AHRS/AP_AHRS.h>
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const AP_Param::GroupInfo AP_AIS::var_info[] = {
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@ -120,20 +121,26 @@ void AP_AIS::update()
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if (_incoming.total > AIVDM_BUFFER_SIZE) {
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// no point in trying to decode it wont fit
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#if HAL_LOGGING_ENABLED
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if (log_all || log_unsupported) {
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log_raw(&_incoming);
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}
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#endif
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break;
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}
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#if HAL_LOGGING_ENABLED
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if (log_all) {
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log_raw(&_incoming);
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}
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#endif
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if (_incoming.num == 1 && _incoming.total == 1) {
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// single part message
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if (!payload_decode(_incoming.payload) && log_unsupported) {
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#if HAL_LOGGING_ENABLED
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// could not decode so log
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log_raw(&_incoming);
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#endif
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}
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} else if (_incoming.num == _incoming.total) {
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// last part of a multi part message
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@ -154,12 +161,14 @@ void AP_AIS::update()
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// did we find the right number?
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if (_incoming.num != index) {
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// could not find all of the message, save messages
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#if HAL_LOGGING_ENABLED
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if (log_unsupported) {
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for (uint8_t i = 0; i < index; i++) {
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log_raw(&_AIVDM_buffer[msg_parts[i]]);
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}
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log_raw(&_incoming);
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}
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#endif
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// remove
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for (uint8_t i = 0; i < index; i++) {
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buffer_shift(msg_parts[i]);
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@ -174,17 +183,23 @@ void AP_AIS::update()
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strncat(multi,_AIVDM_buffer[msg_parts[i]].payload,sizeof(multi));
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}
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strncat(multi,_incoming.payload,sizeof(multi));
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#if HAL_LOGGING_ENABLED
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const bool decoded = payload_decode(multi);
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#endif
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for (uint8_t i = 0; i < _incoming.total; i++) {
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#if HAL_LOGGING_ENABLED
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// unsupported type, log and discard
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if (!decoded && log_unsupported) {
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log_raw(&_AIVDM_buffer[msg_parts[i]]);
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}
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#endif
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buffer_shift(msg_parts[i]);
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}
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#if HAL_LOGGING_ENABLED
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if (!decoded && log_unsupported) {
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log_raw(&_incoming);
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}
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#endif
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} else {
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// multi part message, store in buffer
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bool fits_in = false;
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@ -198,10 +213,12 @@ void AP_AIS::update()
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}
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if (!fits_in) {
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// remove the oldest message
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#if HAL_LOGGING_ENABLED
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if (log_unsupported) {
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// log the unused message before removing it
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log_raw(&_AIVDM_buffer[0]);
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}
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#endif
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buffer_shift(0);
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_AIVDM_buffer[AIVDM_BUFFER_SIZE - 1] = _incoming;
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}
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@ -393,6 +410,7 @@ bool AP_AIS::decode_position_report(const char *payload, uint8_t type)
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bool raim = get_bits(payload, 148, 148);
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uint32_t radio = get_bits(payload, 149, 167);
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#if HAL_LOGGING_ENABLED
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// log the raw infomation
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if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
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const struct log_AIS_msg1 pkt{
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@ -416,6 +434,19 @@ bool AP_AIS::decode_position_report(const char *payload, uint8_t type)
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#else
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(void)repeat;
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(void)nav;
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(void)rot;
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(void)sog;
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(void)pos_acc;
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(void)cog;
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(void)head;
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(void)sec_utc;
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(void)maneuver;
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(void)raim;
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(void)radio;
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#endif
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uint16_t index;
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if (!get_vessel_index(mmsi, index, lat, lon)) {
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@ -482,6 +513,7 @@ bool AP_AIS::decode_base_station_report(const char *payload)
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bool raim = get_bits(payload, 148, 148);
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uint32_t radio = get_bits(payload, 149, 167);
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#if HAL_LOGGING_ENABLED
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// log the raw infomation
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if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
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struct log_AIS_msg4 pkt {
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@ -504,6 +536,19 @@ bool AP_AIS::decode_base_station_report(const char *payload)
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#else
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(void)repeat;
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(void)year;
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(void)month;
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(void)day;
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(void)hour;
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(void)minute;
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(void)second;
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(void)fix;
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(void)epfd;
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(void)raim;
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(void)radio;
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#endif
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uint16_t index;
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if (!get_vessel_index(mmsi, index)) {
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@ -548,6 +593,7 @@ bool AP_AIS::decode_static_and_voyage_data(const char *payload)
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bool dte = get_bits(payload, 422, 422);
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// 423 - 426: spare
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#if HAL_LOGGING_ENABLED
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// log the raw infomation
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if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
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struct log_AIS_msg5 pkt {
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@ -574,6 +620,14 @@ bool AP_AIS::decode_static_and_voyage_data(const char *payload)
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strncpy(pkt.dest, dest, sizeof(pkt.dest));
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#else
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(void)repeat;
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(void)ver;
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(void)imo;
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(void)fix;
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(void)draught;
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(void)dte;
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#endif
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uint16_t index;
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if (!get_vessel_index(mmsi, index)) {
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@ -699,6 +753,7 @@ uint8_t AP_AIS::payload_char_decode(const char c)
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Functions for decoding and logging AIVDM NMEA sentence
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#if HAL_LOGGING_ENABLED
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// log a raw AIVDM a message
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void AP_AIS::log_raw(const AIVDM *msg)
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{
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@ -713,6 +768,7 @@ void AP_AIS::log_raw(const AIVDM *msg)
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memcpy(pkt.payload, msg->payload, sizeof(pkt.payload));
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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// add a single character to the buffer and attempt to decode
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// returns true if a complete sentence was successfully decoded
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