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AP_Mission: split logging of mission-upload vs mission-execution

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Peter Barker 2024-09-27 17:34:19 +10:00 committed by Andrew Tridgell
parent 4237a33ce6
commit 163f49827f
3 changed files with 40 additions and 3 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
View File

@ -17,6 +17,7 @@
#include <GCS_MAVLink/GCS.h>
#include <RC_Channel/RC_Channel_config.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_Logger/AP_Logger.h>
const AP_Param::GroupInfo AP_Mission::var_info[] = {
@ -400,6 +401,15 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
bool AP_Mission::start_command(const Mission_Command& cmd)
{
#if HAL_LOGGING_ENABLED
if (log_start_mission_item_bit != (uint32_t)-1) {
auto &logger = AP::logger();
if (logger.should_log(log_start_mission_item_bit)) {
logger.Write_MISE(*this, cmd);
}
}
#endif
// check for landing related commands and set flags
if (is_landing_type_cmd(cmd.id) || cmd.id == MAV_CMD_DO_LAND_START) {
_flags.in_landing_sequence = true;

9
libraries/AP_Mission/AP_Mission.h
View File

@ -778,6 +778,10 @@ public:
}
#endif
#if HAL_LOGGING_ENABLED
void set_log_start_mission_item_bit(uint32_t bit) { log_start_mission_item_bit = bit; }
#endif
private:
static AP_Mission *_singleton;
@ -949,6 +953,11 @@ private:
format to take advantage of new packing
*/
void format_conversion(uint8_t tag_byte, const Mission_Command &cmd, PackedContent &packed_content) const;
#if HAL_LOGGING_ENABLED
// if not -1, this bit in LOG_BITMASK specifies whether to log a message each time we start a command:
uint32_t log_start_mission_item_bit = -1;
#endif
};
namespace AP

24
libraries/AP_Mission/LogStructure.h
View File

@ -3,11 +3,11 @@
#include <AP_Logger/LogStructure.h>
#define LOG_IDS_FROM_MISSION \
LOG_MISE_MSG, \
LOG_CMD_MSG
// @LoggerMessage: CMD
// @Description: Executed mission command information
// @Description: Uploaded mission command information
// @Field: TimeUS: Time since system startup
// @Field: CTot: Total number of mission commands
// @Field: CNum: This command's offset in mission
@ -36,6 +36,24 @@ struct PACKED log_CMD {
uint8_t frame;
};
// @LoggerMessage: MISE
// @Description: Executed mission command information; emitted when we start to run an item
// @Field: TimeUS: Time since system startup
// @Field: CTot: Total number of mission commands
// @Field: CNum: This command's offset in mission
// @Field: CId: Command type
// @Field: Prm1: Parameter 1
// @Field: Prm2: Parameter 2
// @Field: Prm3: Parameter 3
// @Field: Prm4: Parameter 4
// @Field: Lat: Command latitude
// @Field: Lng: Command longitude
// @Field: Alt: Command altitude
// @Field: Frame: Frame used for position
// note we currently reuse the same structure for CMD and MISE.
#define LOG_STRUCTURE_FROM_MISSION \
{ LOG_CMD_MSG, sizeof(log_CMD), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" },
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_MISE_MSG, sizeof(log_CMD), \
"MISE", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" },