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AP_DAL: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:05 +10:00 committed by Andrew Tridgell
parent 4b30963d1d
commit 8828659b33
2 changed files with 11 additions and 0 deletions
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4
libraries/AP_DAL/AP_DAL.cpp
View File

@ -38,11 +38,13 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
_last_imu_time_us = imu_us; _last_imu_time_us = imu_us;
// we force write all msgs when logging starts // we force write all msgs when logging starts
#if HAL_LOGGING_ENABLED
bool logging = AP::logger().logging_started() && AP::logger().allow_start_ekf(); bool logging = AP::logger().logging_started() && AP::logger().allow_start_ekf();
if (logging && !logging_started) { if (logging && !logging_started) {
force_write = true; force_write = true;
} }
logging_started = logging; logging_started = logging;
#endif
end_frame(); end_frame();
@ -280,6 +282,7 @@ uint8_t AP_DAL::logging_core(uint8_t c) const
#endif #endif
} }
#if HAL_LOGGING_ENABLED
// write out a DAL log message. If old_msg is non-null, then // write out a DAL log message. If old_msg is non-null, then
// only write if the content has changed // only write if the content has changed
void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size) void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size)
@ -301,6 +304,7 @@ void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *o
_end = 0; _end = 0;
} }
} }
#endif
/* /*
check if we are low on CPU for this core. This needs to capture the check if we are low on CPU for this core. This needs to capture the

7
libraries/AP_DAL/AP_DAL.h
View File

@ -324,9 +324,11 @@ public:
// map core number for replay // map core number for replay
uint8_t logging_core(uint8_t c) const; uint8_t logging_core(uint8_t c) const;
#if HAL_LOGGING_ENABLED
// write out a DAL log message. If old_msg is non-null, then // write out a DAL log message. If old_msg is non-null, then
// only write if the content has changed // only write if the content has changed
static void WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size); static void WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size);
#endif
private: private:
@ -376,10 +378,15 @@ private:
bool init_done; bool init_done;
}; };
#if HAL_LOGGING_ENABLED
#define WRITE_REPLAY_BLOCK(sname,v) AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, nullptr, offsetof(log_ ##sname, _end)) #define WRITE_REPLAY_BLOCK(sname,v) AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, nullptr, offsetof(log_ ##sname, _end))
#define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { static_assert(sizeof(v) == sizeof(old), "types must match"); \ #define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { static_assert(sizeof(v) == sizeof(old), "types must match"); \
AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, &old, offsetof(log_ ##sname, _end)); } \ AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, &old, offsetof(log_ ##sname, _end)); } \
while (0) while (0)
#else
#define WRITE_REPLAY_BLOCK(sname,v) do { (void)v; } while (false)
#define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { (void)old; } while (false)
#endif
namespace AP { namespace AP {
AP_DAL &dal(); AP_DAL &dal();