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AP_Logger: allow for new log msgs in Replay

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this makes replay tuning and code testing much easier as up to 10 new
log messages can be added in the replay code
This commit is contained in:
Andrew Tridgell 2021-03-06 17:36:57 +11:00 committed by Peter Barker
parent e71ced7984
commit c02aef8a50
3 changed files with 20 additions and 9 deletions
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17
libraries/AP_Logger/AP_Logger.cpp
View File

@ -57,6 +57,14 @@ extern const AP_HAL::HAL& hal;
# endif
#endif
// when adding new msgs we start at a different index in replay
#if APM_BUILD_TYPE(APM_BUILD_Replay)
#define LOGGING_FIRST_DYNAMIC_MSGID REPLAY_LOG_NEW_MSG_MAX
#else
#define LOGGING_FIRST_DYNAMIC_MSGID 254
#endif
const AP_Param::GroupInfo AP_Logger::var_info[] = {
// @Param: _BACKEND_TYPE
// @DisplayName: AP_Logger Backend Storage type
@ -1078,12 +1086,6 @@ AP_Logger::log_write_fmt *AP_Logger::msg_fmt_for_name(const char *name, const ch
}
}
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// don't allow for new msg types during replay. We will be able to
// support these eventually, but for now they cause corruption
return nullptr;
#endif
f = (struct log_write_fmt *)calloc(1, sizeof(*f));
if (f == nullptr) {
// out of memory
@ -1198,8 +1200,9 @@ bool AP_Logger::msg_type_in_use(const uint8_t msg_type) const
// find a free message type
int16_t AP_Logger::find_free_msg_type() const
{
const uint8_t start = LOGGING_FIRST_DYNAMIC_MSGID;
// avoid using 255 here; perhaps we want to use it to extend things later
for (uint16_t msg_type=254; msg_type>0; msg_type--) { // more likely to be free at end
for (uint16_t msg_type=start; msg_type>0; msg_type--) { // more likely to be free at end
if (! msg_type_in_use(msg_type)) {
return msg_type;
}

6
libraries/AP_Logger/AP_Logger.h
View File

@ -48,6 +48,12 @@
#define HAL_LOGGER_FILE_CONTENTS_ENABLED HAL_LOGGING_FILESYSTEM_ENABLED
#endif
// range of IDs to allow for new messages during replay. It is very
// useful to be able to add new messages during a replay, but we need
// to avoid colliding with existing messages
#define REPLAY_LOG_NEW_MSG_MAX 230
#define REPLAY_LOG_NEW_MSG_MIN 220
#include <AC_PID/AC_PID.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>

6
libraries/AP_Logger/AP_Logger_Backend.cpp
View File

@ -172,8 +172,10 @@ void AP_Logger_Backend::WriteMoreStartupMessages()
bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// sure, sure we did....
return true;
if (msg_type < REPLAY_LOG_NEW_MSG_MIN || msg_type > REPLAY_LOG_NEW_MSG_MAX) {
// don't re-emit FMU msgs unless they are in the replay range
return true;
}
#endif
// get log structure from front end: