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SITL: avoid use of stderr/::fprintf

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This commit is contained in:
Peter Barker 2021-10-11 16:01:17 +11:00 committed by Peter Barker
parent 94ad32b91c
commit c9df857f16
6 changed files with 25 additions and 10 deletions
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6
libraries/SITL/SIM_FETtecOneWireESC.cpp
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@ -37,6 +37,10 @@ Protocol:
- in the case that we don't have ESC telemetry, consider probing ESCs periodically with an "OK"-request while disarmed - in the case that we don't have ESC telemetry, consider probing ESCs periodically with an "OK"-request while disarmed
*/ */
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "SIM_FETtecOneWireESC.h" #include "SIM_FETtecOneWireESC.h"
@ -227,7 +231,7 @@ void FETtecOneWireESC::running_handle_config_message(FETtecOneWireESC::ESC &esc)
case ConfigMessageType::NOT_OK: case ConfigMessageType::NOT_OK:
break; break;
case ConfigMessageType::BL_START_FW: // BL only case ConfigMessageType::BL_START_FW: // BL only
::fprintf(stderr, "received unexpected BL_START_FW message\n"); hal.console->printf("received unexpected BL_START_FW message\n");
AP_HAL::panic("received unexpected BL_START_FW message"); AP_HAL::panic("received unexpected BL_START_FW message");
return; return;
case ConfigMessageType::BL_PAGES_TO_FLASH: // BL only case ConfigMessageType::BL_PAGES_TO_FLASH: // BL only

6
libraries/SITL/SIM_Frsky_D.cpp
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@ -18,7 +18,9 @@
#include "SIM_Frsky_D.h" #include "SIM_Frsky_D.h"
#include <stdio.h> #include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
using namespace SITL; using namespace SITL;
@ -30,7 +32,7 @@ static const uint8_t BYTESTUFF_D = 0x5D;
void Frsky_D::handle_data(uint8_t id, uint16_t data) void Frsky_D::handle_data(uint8_t id, uint16_t data)
{ {
::fprintf(stderr, hal.console->printf(
"Frsky: id=%s (0x%02X) data=%u\n", "Frsky: id=%s (0x%02X) data=%u\n",
dataid_string((DataID)id), dataid_string((DataID)id),
(unsigned)_id, (unsigned)_id,

8
libraries/SITL/SIM_Gripper_EPM.cpp
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@ -21,6 +21,8 @@
#include <stdio.h> #include <stdio.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
using namespace SITL; using namespace SITL;
// table of user settable parameters // table of user settable parameters
@ -81,9 +83,9 @@ void Gripper_EPM::update_from_demand()
} }
if (should_report()) { if (should_report()) {
::fprintf(stderr, "demand=%f\n", demand); hal.console->printf("demand=%f\n", demand);
printf("Field strength: %f%%\n", field_strength); hal.console->printf("Field strength: %f%%\n", field_strength);
printf("Field strength: %f Tesla\n", tesla()); hal.console->printf("Field strength: %f Tesla\n", tesla());
last_report_us = now; last_report_us = now;
reported_field_strength = field_strength; reported_field_strength = field_strength;
} }

4
libraries/SITL/SIM_Gripper_Servo.cpp
View File

@ -21,6 +21,8 @@
#include "AP_Math/AP_Math.h" #include "AP_Math/AP_Math.h"
#include <stdio.h> #include <stdio.h>
extern const AP_HAL::HAL& hal;
using namespace SITL; using namespace SITL;
// table of user settable parameters // table of user settable parameters
@ -96,7 +98,7 @@ void Gripper_Servo::update(const struct sitl_input &input)
jaw_gap = gap * (1.0f - position); jaw_gap = gap * (1.0f - position);
} }
if (should_report()) { if (should_report()) {
::fprintf(stderr, "position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass); hal.console->printf("position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
last_report_us = now; last_report_us = now;
reported_position = position; reported_position = position;
} }

7
libraries/SITL/SIM_MS5XXX.cpp
View File

@ -6,6 +6,9 @@
using namespace SITL; using namespace SITL;
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
MS5XXX::MS5XXX() : MS5XXX::MS5XXX() :
I2CDevice() I2CDevice()
{ {
@ -163,7 +166,7 @@ int MS5XXX::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
cmd == Command::RESET) { cmd == Command::RESET) {
// this is OK - RESET is OK in UNINITIALISED // this is OK - RESET is OK in UNINITIALISED
} else { } else {
::fprintf(stderr, "Command (0x%02x) received while not running (state=%u)\n", (unsigned)cmd, (unsigned)state); hal.console->printf("Command (0x%02x) received while not running (state=%u)\n", (unsigned)cmd, (unsigned)state);
return -1; // we could die instead... return -1; // we could die instead...
} }
} }
@ -199,7 +202,7 @@ int MS5XXX::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
if (data->msgs[1].len == 0) { if (data->msgs[1].len == 0) {
// upon not getting a reading back the driver commands a // upon not getting a reading back the driver commands a
// conversion-read but doesn't wait for a response! // conversion-read but doesn't wait for a response!
::fprintf(stderr, "read of length zero\n"); hal.console->printf("read of length zero\n");
return -1; return -1;
} }
if (data->msgs[1].len != 3) { if (data->msgs[1].len != 3) {

4
libraries/SITL/SIM_Vicon.cpp
View File

@ -24,6 +24,8 @@
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
extern const AP_HAL::HAL& hal;
using namespace SITL; using namespace SITL;
Vicon::Vicon() : Vicon::Vicon() :
@ -89,7 +91,7 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &msg_buf[i].obs_msg); uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &msg_buf[i].obs_msg);
if (::write(fd_my_end, (void*)&buf, buf_len) != buf_len) { if (::write(fd_my_end, (void*)&buf, buf_len) != buf_len) {
::fprintf(stderr, "Vicon: write failure\n"); hal.console->printf("Vicon: write failure\n");
} }
msg_buf[i].time_send_us = 0; msg_buf[i].time_send_us = 0;
} }