aepko/Ardupilot2
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Rover: Unify from print or println to printf.

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This commit is contained in:
murata 2017-01-21 13:33:27 +09:00 committed by Andrew Tridgell
parent 577d19f91d
commit 0c813c5afa
6 changed files with 46 additions and 46 deletions
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14
APMrover2/Log.cpp
View File

@ -23,10 +23,10 @@ MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&rover, &Rover::print_log
bool Rover::print_log_menu(void)
{
cliSerial->print("logs enabled: ");
cliSerial->printf("logs enabled: ");
if (0 == g.log_bitmask) {
cliSerial->print("none");
cliSerial->printf("none");
} else {
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
@ -50,7 +50,7 @@ bool Rover::print_log_menu(void)
#undef PLOG
}
cliSerial->println();
cliSerial->printf("\n");
DataFlash.ListAvailableLogs(cliSerial);
return(true);
@ -69,11 +69,11 @@ int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log_num <= 0) {
cliSerial->println("dumping all");
cliSerial->printf("dumping all\n");
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
cliSerial->println("bad log number");
cliSerial->printf("bad log number\n");
return(-1);
}
@ -96,7 +96,7 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
uint16_t bits;
if (argc != 2) {
cliSerial->println("missing log type");
cliSerial->printf("missing log type\n");
return(-1);
}
@ -486,7 +486,7 @@ void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
cliSerial->println(HAL_BOARD_NAME);
cliSerial->printf("%s\n", HAL_BOARD_NAME);
DataFlash.LogReadProcess(list_entry, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),

6
APMrover2/Parameters.cpp
View File

@ -575,19 +575,19 @@ const AP_Param::ConversionInfo conversion_table[] = {
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->println("Bad var table");
cliSerial->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->println("Firmware change: erasing EEPROM...");
cliSerial->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
cliSerial->println("done.");
cliSerial->printf("done.\n");
}
unsigned long before = micros();

2
APMrover2/control_modes.cpp
View File

@ -94,7 +94,7 @@ void Rover::read_trim_switch()
switch (control_mode) {
case MANUAL:
hal.console->println("Erasing waypoints");
hal.console->printf("Erasing waypoints\n");
// if SW7 is ON in MANUAL = Erase the Flight Plan
mission.clear();
if (channel_steer->get_control_in() > 3000) {

2
APMrover2/setup.cpp
View File

@ -49,7 +49,7 @@ void Rover::zero_eeprom(void)
{
cliSerial->printf("\nErasing EEPROM\n");
StorageManager::erase();
cliSerial->println("done");
cliSerial->printf("done\n");
}
#endif // CLI_ENABLED

20
APMrover2/system.cpp
View File

@ -147,7 +147,7 @@ void Rover::init_ardupilot()
if (g.compass_enabled == true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!");
cliSerial->printf("Compass initialisation failed!\n");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
@ -192,12 +192,12 @@ void Rover::init_ardupilot()
//
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
cliSerial->printf("%s\n", msg);
if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
gcs[1].get_uart()->println(msg);
gcs[1].get_uart()->printf("%s\n", msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
gcs[2].get_uart()->println(msg);
gcs[2].get_uart()->printf("%s\n", msg);
}
}
#endif
@ -443,22 +443,22 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
switch (mode) {
case MANUAL:
port->print("Manual");
port->printf("Manual");
break;
case HOLD:
port->print("HOLD");
port->printf("HOLD");
break;
case LEARNING:
port->print("Learning");
port->printf("Learning");
break;
case STEERING:
port->print("Steering");
port->printf("Steering");
break;
case AUTO:
port->print("AUTO");
port->printf("AUTO");
break;
case RTL:
port->print("RTL");
port->printf("RTL");
break;
default:
port->printf("Mode(%u)", (unsigned)mode);

48
APMrover2/test.cpp
View File

@ -50,13 +50,13 @@ int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
// New radio frame? (we could use also if((millis()- timer) > 20)
if (hal.rcin->new_input()) {
cliSerial->print("CH:");
cliSerial->printf("CH:");
for (int i = 0; i < 8; i++) {
cliSerial->print(hal.rcin->read(i)); // Print channel values
cliSerial->print(",");
cliSerial->printf("%u", hal.rcin->read(i)); // Print channel values
cliSerial->printf(",");
hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
}
cliSerial->println();
cliSerial->printf("\n");
}
if (cliSerial->available() > 0){
return (0);
@ -81,7 +81,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
oldSwitchPosition = readSwitch();
cliSerial->println("Unplug battery, throttle in neutral, turn off radio.");
cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
while (channel_throttle->get_control_in() > 0) {
delay(20);
read_radio();
@ -97,16 +97,16 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
}
if (oldSwitchPosition != readSwitch()){
cliSerial->print("CONTROL MODE CHANGED: ");
cliSerial->printf("CONTROL MODE CHANGED: ");
print_mode(cliSerial, readSwitch());
cliSerial->println();
cliSerial->printf("\n");
fail_test++;
}
if (throttle_failsafe_active()) {
cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
print_mode(cliSerial, readSwitch());
cliSerial->println();
cliSerial->printf("\n");
fail_test++;
}
@ -114,7 +114,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
return (0);
}
if (cliSerial->available() > 0) {
cliSerial->println("LOS caused no change in APM.");
cliSerial->printf("LOS caused no change in APM.\n");
return (0);
}
}
@ -126,14 +126,14 @@ int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
delay(1000);
while (1) {
cliSerial->println("Relay on");
cliSerial->printf("Relay on\n");
relay.on(0);
delay(3000);
if (cliSerial->available() > 0) {
return (0);
}
cliSerial->println("Relay off");
cliSerial->printf("Relay off\n");
relay.off(0);
delay(3000);
if (cliSerial->available() > 0) {
@ -176,9 +176,9 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
print_hit_enter();
delay(1000);
cliSerial->print("Control CH ");
cliSerial->printf("Control CH ");
cliSerial->println(MODE_CHANNEL, BASE_DEC);
cliSerial->printf("%d\n", MODE_CHANNEL);
while (1) {
delay(20);
@ -198,7 +198,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
*/
int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
{
cliSerial->println("Testing dataflash logging");
cliSerial->printf("Testing dataflash logging\n");
DataFlash.ShowDeviceInfo(cliSerial);
return 0;
}
@ -227,7 +227,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
(long)loc.alt/100,
(int)gps.num_sats());
} else {
cliSerial->print(".");
cliSerial->printf(".");
}
if (cliSerial->available() > 0) {
return (0);
@ -237,7 +237,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
{
// cliSerial->print("Calibrating.");
// cliSerial->printf("Calibrating.");
ahrs.init();
ahrs.set_fly_forward(true);
@ -281,23 +281,23 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
void Rover::print_enabled(bool b)
{
if (b) {
cliSerial->print("en");
cliSerial->printf("en");
} else {
cliSerial->print("dis");
cliSerial->printf("dis");
}
cliSerial->println("abled");
cliSerial->printf("abled\n");
}
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->print("Compass: ");
cliSerial->printf("Compass: ");
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println("Compass initialisation failed!");
cliSerial->printf("Compass initialisation failed!\n");
return 0;
}
ahrs.init();
@ -340,7 +340,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
(double)mag.x, (double)mag.y, (double)mag.z,
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
} else {
cliSerial->println("compass not healthy");
cliSerial->printf("compass not healthy\n");
}
counter = 0;
}
@ -351,7 +351,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println("saving offsets");
cliSerial->printf("saving offsets\n");
compass.save_offsets();
return (0);
}
@ -366,7 +366,7 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
sonar.update();
if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
cliSerial->println("WARNING: Sonar is not enabled");
cliSerial->printf("WARNING: Sonar is not enabled\n");
}
print_hit_enter();