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Tools: move logger object up to AP_Vehicle

This commit is contained in:
Peter Barker 2024-02-11 14:56:41 +11:00 committed by Andrew Tridgell
parent 7b3a91996b
commit bdb84181bc
3 changed files with 14 additions and 13 deletions
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5
Tools/AP_Periph/AP_Periph.cpp
View File

@ -62,9 +62,6 @@ void loop(void)
static uint32_t start_ms;
AP_Periph_FW::AP_Periph_FW()
#if HAL_LOGGING_ENABLED
: logger(g.log_bitmask)
#endif
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_Periph_FW must be singleton");
@ -127,7 +124,7 @@ void AP_Periph_FW::init()
#endif
#if HAL_LOGGING_ENABLED
logger.Init(log_structure, ARRAY_SIZE(log_structure));
logger.init(g.log_bitmask, log_structure, ARRAY_SIZE(log_structure));
#endif
check_firmware_print();

5
Tools/Replay/Replay.cpp
View File

@ -69,10 +69,6 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ekf3, NavEKF3, "EK3_", NavEKF3),
@ -124,7 +120,6 @@ void ReplayVehicle::init_ardupilot(void)
// message as a product of Replay), or the format understood in
// the current code (if we do emit the message in the normal
// places in the EKF, for example)
logger.Init(log_structure, 0);
logger.set_force_log_disarmed(true);
}

17
Tools/Replay/Replay.h
View File

@ -34,7 +34,7 @@ class ReplayVehicle : public AP_Vehicle {
public:
friend class Replay;
ReplayVehicle() { unused.set(-1); }
ReplayVehicle() { unused_log_bitmask.set(-1); }
// HAL::Callbacks implementation.
void load_parameters(void) override;
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@ -50,16 +50,25 @@ public:
AP_FixedWing aparm;
AP_Int32 unused; // logging is magic for Replay; this is unused
AP_Int32 unused_log_bitmask; // logging is magic for Replay; this is unused
struct LogStructure log_structure[256] = {
};
AP_Logger logger{unused};
NavEKF2 ekf2;
NavEKF3 ekf3;
protected:
protected:
const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
const struct LogStructure *get_log_structures() const override {
return log_structure;
}
uint8_t get_num_log_structures() const override {
return uint8_t(ARRAY_SIZE(log_structure));
}
void init_ardupilot() override;
private:
@ -82,7 +91,7 @@ public:
// return true if a user parameter of name is set
bool check_user_param(const char *name);
private:
const char *filename;
ReplayVehicle &_vehicle;