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added send_text_P()

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this merges the send_text_P() updates from APM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1788 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-03-19 10:14:15 +00:00
parent 0374781c56
commit c34a86be89
12 changed files with 63 additions and 30 deletions
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8
ArduCopterMega/GCS.h
View File

@ -65,6 +65,13 @@ public:
/// ///
void send_text(uint8_t severity, const char *str) {} void send_text(uint8_t severity, const char *str) {}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text_P(uint8_t severity, const char *str) {}
/// Send acknowledgement for a message. /// Send acknowledgement for a message.
/// ///
/// @param id The message ID being acknowledged. /// @param id The message ID being acknowledged.
@ -133,6 +140,7 @@ public:
void init(BetterStream *port); void init(BetterStream *port);
void send_message(uint8_t id, uint32_t param = 0); void send_message(uint8_t id, uint32_t param = 0);
void send_text(uint8_t severity, const char *str); void send_text(uint8_t severity, const char *str);
void send_text_P(uint8_t severity, const char *str);
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2); void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
void data_stream_send(uint16_t freqMin, uint16_t freqMax); void data_stream_send(uint16_t freqMin, uint16_t freqMax);
private: private:

34
ArduCopterMega/GCS_Mavlink.pde
View File

@ -53,13 +53,13 @@ GCS_MAVLINK::update(void)
// stop waypoint sending if timeout // stop waypoint sending if timeout
if (global_data.waypoint_sending && (millis() - global_data.waypoint_timelast_send) > global_data.waypoint_send_timeout){ if (global_data.waypoint_sending && (millis() - global_data.waypoint_timelast_send) > global_data.waypoint_send_timeout){
send_text(SEVERITY_LOW,PSTR("waypoint send timeout")); send_text_P(SEVERITY_LOW,PSTR("waypoint send timeout"));
global_data.waypoint_sending = false; global_data.waypoint_sending = false;
} }
// stop waypoint receiving if timeout // stop waypoint receiving if timeout
if (global_data.waypoint_receiving && (millis() - global_data.waypoint_timelast_receive) > global_data.waypoint_receive_timeout){ if (global_data.waypoint_receiving && (millis() - global_data.waypoint_timelast_receive) > global_data.waypoint_receive_timeout){
send_text(SEVERITY_LOW,PSTR("waypoint receive timeout")); send_text_P(SEVERITY_LOW,PSTR("waypoint receive timeout"));
global_data.waypoint_receiving = false; global_data.waypoint_receiving = false;
} }
} }
@ -116,6 +116,18 @@ GCS_MAVLINK::send_text(uint8_t severity, const char *str)
mavlink_send_text(chan,severity,str); mavlink_send_text(chan,severity,str);
} }
void
GCS_MAVLINK::send_text_P(uint8_t severity, const char *str)
{
mavlink_statustext_t m;
uint8_t i;
for (i=0; i<sizeof(m.text); i++) {
m.text[i] = pgm_read_byte(str++);
}
if (i < sizeof(m.text)) m.text[i] = 0;
mavlink_send_text(chan, severity, (const char *)m.text);
}
void void
GCS_MAVLINK::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) GCS_MAVLINK::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2)
{ {
@ -193,7 +205,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (mavlink_check_target(packet.target,packet.target_component)) break; if (mavlink_check_target(packet.target,packet.target_component)) break;
// do action // do action
send_text(SEVERITY_LOW,PSTR("action received")); send_text_P(SEVERITY_LOW,PSTR("action received"));
switch(packet.action){ switch(packet.action){
case MAV_ACTION_LAUNCH: case MAV_ACTION_LAUNCH:
@ -286,7 +298,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint request list")); //send_text_P(SEVERITY_LOW,PSTR("waypoint request list"));
// decode // decode
mavlink_waypoint_request_list_t packet; mavlink_waypoint_request_list_t packet;
@ -312,7 +324,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint request")); //send_text_P(SEVERITY_LOW,PSTR("waypoint request"));
// Check if sending waypiont // Check if sending waypiont
if (!global_data.waypoint_sending) break; if (!global_data.waypoint_sending) break;
@ -392,7 +404,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_ACK: case MAVLINK_MSG_ID_WAYPOINT_ACK:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint ack")); //send_text_P(SEVERITY_LOW,PSTR("waypoint ack"));
// decode // decode
mavlink_waypoint_ack_t packet; mavlink_waypoint_ack_t packet;
@ -409,7 +421,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{ {
//send_text(SEVERITY_LOW,PSTR("param request list")); //send_text_P(SEVERITY_LOW,PSTR("param request list"));
// decode // decode
mavlink_param_request_list_t packet; mavlink_param_request_list_t packet;
@ -425,7 +437,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint clear all")); //send_text_P(SEVERITY_LOW,PSTR("waypoint clear all"));
// decode // decode
mavlink_waypoint_clear_all_t packet; mavlink_waypoint_clear_all_t packet;
@ -444,7 +456,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint set current")); //send_text_P(SEVERITY_LOW,PSTR("waypoint set current"));
// decode // decode
mavlink_waypoint_set_current_t packet; mavlink_waypoint_set_current_t packet;
@ -466,7 +478,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_WAYPOINT_COUNT: case MAVLINK_MSG_ID_WAYPOINT_COUNT:
{ {
//send_text(SEVERITY_LOW,PSTR("waypoint count")); //send_text_P(SEVERITY_LOW,PSTR("waypoint count"));
// decode // decode
mavlink_waypoint_count_t packet; mavlink_waypoint_count_t packet;
@ -587,7 +599,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
msg->compid, msg->compid,
type); type);
send_text(SEVERITY_LOW,PSTR("flight plan received")); send_text_P(SEVERITY_LOW,PSTR("flight plan received"));
global_data.waypoint_receiving = false; global_data.waypoint_receiving = false;
// XXX ignores waypoint radius for individual waypoints, can // XXX ignores waypoint radius for individual waypoints, can
// only set WP_RADIUS parameter // only set WP_RADIUS parameter

8
ArduCopterMega/HIL.h
View File

@ -66,6 +66,13 @@ public:
/// ///
void send_text(uint8_t severity, const char *str) {} void send_text(uint8_t severity, const char *str) {}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text_P(uint8_t severity, const char *str) {}
/// Send acknowledgement for a message. /// Send acknowledgement for a message.
/// ///
/// @param id The message ID being acknowledged. /// @param id The message ID being acknowledged.
@ -107,6 +114,7 @@ public:
void init(BetterStream *port); void init(BetterStream *port);
void send_message(uint8_t id, uint32_t param = 0); void send_message(uint8_t id, uint32_t param = 0);
void send_text(uint8_t severity, const char *str); void send_text(uint8_t severity, const char *str);
void send_text_P(uint8_t severity, const char *str);
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2); void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
private: private:
void output_HIL(); void output_HIL();

5
ArduCopterMega/HIL_Xplane.pde
View File

@ -118,6 +118,11 @@ HIL_XPLANE::send_text(uint8_t severity, const char *str)
{ {
} }
void
HIL_XPLANE::send_text_P(uint8_t severity, const char *str)
{
}
void void
HIL_XPLANE::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) HIL_XPLANE::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2)
{ {

2
ArduCopterMega/Log.pde
View File

@ -253,7 +253,7 @@ void start_new_log(byte num_existing_logs)
DataFlash.FinishWrite(); DataFlash.FinishWrite();
DataFlash.StartWrite(start_pages[num_existing_logs-1]); DataFlash.StartWrite(start_pages[num_existing_logs-1]);
}else{ }else{
gcs.send_text(SEVERITY_LOW,"<start_new_log> Logs full - logging discontinued"); gcs.send_text_P(SEVERITY_LOW,PSTR("<start_new_log> Logs full - logging discontinued"));
} }
} }

2
ArduCopterMega/Mavlink_Common.h
View File

@ -16,7 +16,7 @@ static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
return 1; return 1;
}else if(compid != mavlink_system.compid){ }else if(compid != mavlink_system.compid){
gcs.send_text(SEVERITY_LOW,"component id mismatch"); gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
return 0; // XXX currently not receiving correct compid from gcs return 0; // XXX currently not receiving correct compid from gcs
}else{ }else{

2
ArduCopterMega/commands.pde
View File

@ -133,7 +133,7 @@ It looks to see what the next command type is and finds the last command.
*/ */
void set_next_WP(struct Location *wp) void set_next_WP(struct Location *wp)
{ {
//GCS.send_text(SEVERITY_LOW,"load WP"); //GCS.send_text_P(SEVERITY_LOW,PSTR("load WP"));
SendDebug("MSG <set_next_wp> wp_index: "); SendDebug("MSG <set_next_wp> wp_index: ");
SendDebugln(g.waypoint_index, DEC); SendDebugln(g.waypoint_index, DEC);
gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index); gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);

12
ArduCopterMega/commands_logic.pde
View File

@ -153,7 +153,7 @@ bool verify_must()
break; break;
default: default:
//gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current Must commands"); //gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current Must commands"));
return false; return false;
break; break;
} }
@ -180,7 +180,7 @@ bool verify_may()
break; break;
default: default:
//gcs.send_text(SEVERITY_HIGH,"<verify_must: default> No current May commands"); //gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current May commands"));
return false; return false;
break; break;
} }
@ -297,7 +297,7 @@ bool verify_nav_wp()
// Have we passed the WP? // Have we passed the WP?
if(loiter_sum > 90){ if(loiter_sum > 90){
gcs.send_text(SEVERITY_MEDIUM,"Missed WP"); gcs.send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP"));
return true; return true;
} }
return false; return false;
@ -311,7 +311,7 @@ bool verify_loiter_unlim()
bool verify_loiter_time() bool verify_loiter_time()
{ {
if ((millis() - loiter_time) > (long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds if ((millis() - loiter_time) > (long)loiter_time_max * 10000l) { // scale loiter_time_max from (sec*10) to milliseconds
gcs.send_text(SEVERITY_LOW,"<verify_must: MAV_CMD_NAV_LOITER_TIME> LOITER time complete "); gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
return true; return true;
} }
return false; return false;
@ -320,7 +320,7 @@ bool verify_loiter_time()
bool verify_RTL() bool verify_RTL()
{ {
if (wp_distance <= g.waypoint_radius) { if (wp_distance <= g.waypoint_radius) {
gcs.send_text(SEVERITY_LOW,"Reached home"); gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
return true; return true;
}else{ }else{
return false; return false;
@ -552,4 +552,4 @@ void do_repeat_relay()
event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
event_repeat = next_command.alt * 2; event_repeat = next_command.alt * 2;
update_events(); update_events();
} }

8
ArduCopterMega/commands_process.pde
View File

@ -42,7 +42,7 @@ void load_next_command_from_EEPROM()
// -------------------------------------------- // --------------------------------------------
if(next_command.id == NO_COMMAND){ if(next_command.id == NO_COMMAND){
// we are out of commands! // we are out of commands!
gcs.send_text(SEVERITY_LOW,"out of commands!"); gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
handle_no_commands(); handle_no_commands();
} }
} }
@ -100,7 +100,7 @@ void process_next_command()
/**************************************************/ /**************************************************/
void process_must() void process_must()
{ {
gcs.send_text(SEVERITY_LOW,"New cmd: <process_must>"); gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index); gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
// clear May indexes // clear May indexes
@ -117,7 +117,7 @@ void process_must()
void process_may() void process_may()
{ {
gcs.send_text(SEVERITY_LOW,"<process_may>"); gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index); gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
command_may_ID = next_command.id; command_may_ID = next_command.id;
@ -136,7 +136,7 @@ void process_now()
// ----------------------------------------- // -----------------------------------------
next_command.id = NO_COMMAND; next_command.id = NO_COMMAND;
gcs.send_text(SEVERITY_LOW, "<process_now>"); gcs.send_text_P(SEVERITY_LOW, PSTR("<process_now>"));
gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index); gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
} }

2
ArduCopterMega/events.pde
View File

@ -42,7 +42,7 @@ void failsafe_off_event()
void low_battery_event(void) void low_battery_event(void)
{ {
gcs.send_text(SEVERITY_HIGH,"Low Battery!"); gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL); set_mode(RTL);
g.throttle_cruise.set(THROTTLE_CRUISE); g.throttle_cruise.set(THROTTLE_CRUISE);
} }

2
ArduCopterMega/navigation.pde
View File

@ -21,7 +21,7 @@ void navigate()
wp_distance = get_distance(&current_loc, &next_WP); wp_distance = get_distance(&current_loc, &next_WP);
if (wp_distance < 0){ if (wp_distance < 0){
gcs.send_text(SEVERITY_HIGH,"<navigate> WP error - distance < 0"); gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
//Serial.println(wp_distance,DEC); //Serial.println(wp_distance,DEC);
//print_current_waypoints(); //print_current_waypoints();
return; return;

8
ArduCopterMega/system.pde
View File

@ -215,10 +215,10 @@ void init_ardupilot()
//******************************************************************************** //********************************************************************************
void startup_ground(void) void startup_ground(void)
{ {
gcs.send_text(SEVERITY_LOW,"<startup_ground> GROUND START"); gcs.send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
#if(GROUND_START_DELAY > 0) #if(GROUND_START_DELAY > 0)
//gcs.send_text(SEVERITY_LOW," With Delay"); //gcs.send_text_P(SEVERITY_LOW, PSTR(" With Delay"));
delay(GROUND_START_DELAY * 1000); delay(GROUND_START_DELAY * 1000);
#endif #endif
@ -255,7 +255,7 @@ void startup_ground(void)
// ------------------- // -------------------
init_commands(); init_commands();
gcs.send_text(SEVERITY_LOW,"\n\n Ready to FLY."); gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
} }
void set_mode(byte mode) void set_mode(byte mode)
@ -274,7 +274,7 @@ void set_mode(byte mode)
// disarm motors temp // disarm motors temp
motor_auto_safe = false; motor_auto_safe = false;
} }
//send_text(SEVERITY_LOW,"control mode"); //send_text_P(SEVERITY_LOW,PSTR("control mode"));
//Serial.printf("set mode: %d old: %d\n", (int)mode, (int)control_mode); //Serial.printf("set mode: %d old: %d\n", (int)mode, (int)control_mode);
switch(control_mode) switch(control_mode)
{ {