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AP_DroneCAN: map DroneCAN debug levels to MAV_SEVERITY levels

This commit is contained in:
Andrew Tridgell 2024-02-10 15:25:27 +11:00
parent 7790b1ec71
commit ed27e30f9e
1 changed files with 36 additions and 6 deletions
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42
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -1456,14 +1456,44 @@ bool AP_DroneCAN::is_esc_data_index_valid(const uint8_t index) {
*/
void AP_DroneCAN::handle_debug(const CanardRxTransfer& transfer, const uavcan_protocol_debug_LogMessage& msg)
{
#if HAL_LOGGING_ENABLED
if (AP::can().get_log_level() != AP_CANManager::LOG_NONE) {
#if AP_HAVE_GCS_SEND_TEXT
const auto log_level = AP::can().get_log_level();
const auto msg_level = msg.level.value;
bool send_mavlink = false;
if (log_level != AP_CANManager::LOG_NONE) {
// log to onboard log and mavlink
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CAN[%u] %s", transfer.source_node_id, msg.text.data);
} else {
// only log to onboard log
AP::logger().Write_MessageF("CAN[%u] %s", transfer.source_node_id, msg.text.data);
enum MAV_SEVERITY mavlink_level = MAV_SEVERITY_INFO;
switch (msg_level) {
case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG:
mavlink_level = MAV_SEVERITY_DEBUG;
send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_DEBUG);
break;
case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_INFO:
mavlink_level = MAV_SEVERITY_INFO;
send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_INFO);
break;
case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_WARNING:
mavlink_level = MAV_SEVERITY_WARNING;
send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_WARNING);
break;
default:
send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_ERROR);
mavlink_level = MAV_SEVERITY_ERROR;
break;
}
if (send_mavlink) {
// when we send as MAVLink it also gets logged locally, so
// we return to avoid a duplicate
GCS_SEND_TEXT(mavlink_level, "CAN[%u] %s", transfer.source_node_id, msg.text.data);
return;
}
}
#endif // AP_HAVE_GCS_SEND_TEXT
#if HAL_LOGGING_ENABLED
// always log locally if we have logging enabled
AP::logger().Write_MessageF("CAN[%u] %s", transfer.source_node_id, msg.text.data);
#endif
}