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AP_DroneCAN: allow compilation with HAL_LOGGING_ENABLED false

This commit is contained in:
Peter Barker 2023-07-14 10:58:05 +10:00 committed by Andrew Tridgell
parent 8828659b33
commit dd4d017717
2 changed files with 11 additions and 1 deletions
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6
libraries/AP_DroneCAN/AP_DroneCAN.cpp
View File

@ -1354,6 +1354,7 @@ void AP_DroneCAN::handle_traffic_report(const CanardRxTransfer& transfer, const
*/
void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg)
{
#if HAL_LOGGING_ENABLED
// log as CSRV message
AP::logger().Write_ServoStatus(AP_HAL::micros64(),
msg.actuator_id,
@ -1362,6 +1363,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
msg.speed,
msg.power_rating_pct,
0, 0, 0, 0, 0, 0);
#endif
}
#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
@ -1370,6 +1372,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
*/
void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, const com_himark_servo_ServoInfo &msg)
{
#if HAL_LOGGING_ENABLED
// log as CSRV message
AP::logger().Write_ServoStatus(AP_HAL::micros64(),
msg.servo_id,
@ -1383,12 +1386,14 @@ void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, cons
msg.motor_temp*0.2-40,
msg.pcb_temp*0.2-40,
msg.error_status);
#endif
}
#endif // AP_DRONECAN_HIMARK_SERVO_SUPPORT
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg)
{
#if HAL_LOGGING_ENABLED
AP::logger().WriteStreaming(
"CVOL",
"TimeUS,Id,Pos,Cur,V,Pow,T",
@ -1402,6 +1407,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
msg.voltage * 0.2f,
msg.motor_pwm * (100.0/255.0),
int16_t(msg.motor_temperature) - 50);
#endif
}
#endif

6
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
View File

@ -352,12 +352,14 @@ void AP_DroneCAN_DNA_Server::verify_nodes()
return;
}
#if HAL_LOGGING_ENABLED
uint8_t log_count = AP::logger().get_log_start_count();
if (log_count != last_logging_count) {
last_logging_count = log_count;
logged.clearall();
}
#endif
//Check if we got acknowledgement from previous request
//except for requests using our own node_id
if (curr_verifying_node == self_node_id) {
@ -438,6 +440,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
/*
if we haven't logged this node then log it now
*/
#if HAL_LOGGING_ENABLED
if (!logged.get(transfer.source_node_id) && AP::logger().logging_started()) {
logged.set(transfer.source_node_id);
uint64_t uid[2];
@ -462,6 +465,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
rsp.software_version.minor,
rsp.software_version.vcs_commit);
}
#endif
if (isNodeIDOccupied(transfer.source_node_id)) {
//if node_id already registered, just verify if Unique ID matches as well