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AP_Logger: move Log_Write_Error into library

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This commit is contained in:
Peter Barker 2019-03-25 12:04:59 +11:00 committed by Peter Barker
parent 86f8fcfd8a
commit d2a683a758
3 changed files with 96 additions and 1 deletions
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13
libraries/AP_Logger/AP_Logger.cpp
View File

@ -1096,6 +1096,19 @@ void AP_Logger::Write_Event(Log_Event id)
WriteCriticalBlock(&pkt, sizeof(pkt));
}
// Write an error packet
void AP_Logger::Write_Error(LogErrorSubsystem sub_system,
LogErrorCode error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : AP_HAL::micros64(),
sub_system : uint8_t(sub_system),
error_code : uint8_t(error_code),
};
WriteCriticalBlock(&pkt, sizeof(pkt));
}
namespace AP {
AP_Logger &logger()

69
libraries/AP_Logger/AP_Logger.h
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@ -98,6 +98,73 @@ enum Log_Event : uint8_t {
DATA_NOT_BOTTOMED = 166,
};
enum class LogErrorSubsystem : uint8_t {
MAIN = 1,
RADIO = 2,
COMPASS = 3,
OPTFLOW = 4, // not used
FAILSAFE_RADIO = 5,
FAILSAFE_BATT = 6,
FAILSAFE_GPS = 7, // not used
FAILSAFE_GCS = 8,
FAILSAFE_FENCE = 9,
FLIGHT_MODE = 10,
GPS = 11,
CRASH_CHECK = 12,
FLIP = 13,
AUTOTUNE = 14, // not used
PARACHUTES = 15,
EKFCHECK = 16,
FAILSAFE_EKFINAV = 17,
BARO = 18,
CPU = 19,
FAILSAFE_ADSB = 20,
TERRAIN = 21,
NAVIGATION = 22,
FAILSAFE_TERRAIN = 23,
EKF_PRIMARY = 24,
THRUST_LOSS_CHECK = 25,
};
// bizarrely this enumeration has lots of duplicate values, offering
// very little in the way of typesafety
enum class LogErrorCode : uint8_t {
// general error codes
ERROR_RESOLVED = 0,
FAILED_TO_INITIALISE = 1,
UNHEALTHY = 4,
// subsystem specific error codes -- radio
RADIO_LATE_FRAME = 2,
// subsystem specific error codes -- failsafe_thr, batt, gps
FAILSAFE_RESOLVED = 0,
FAILSAFE_OCCURRED = 1,
// subsystem specific error codes -- main
MAIN_INS_DELAY = 1,
// subsystem specific error codes -- crash checker
CRASH_CHECK_CRASH = 1,
CRASH_CHECK_LOSS_OF_CONTROL = 2,
// subsystem specific error codes -- flip
FLIP_ABANDONED = 2,
// subsystem specific error codes -- terrain
MISSING_TERRAIN_DATA = 2,
// subsystem specific error codes -- navigation
FAILED_TO_SET_DESTINATION = 2,
RESTARTED_RTL = 3,
FAILED_CIRCLE_INIT = 4,
DEST_OUTSIDE_FENCE = 5,
// parachute failed to deploy because of low altitude or landed
PARACHUTE_TOO_LOW = 2,
PARACHUTE_LANDED = 3,
// EKF check definitions
EKFCHECK_BAD_VARIANCE = 2,
EKFCHECK_VARIANCE_CLEARED = 0,
// Baro specific error codes
BARO_GLITCH = 2,
// GPS specific error coces
GPS_GLITCH = 2,
};
// fwd declarations to avoid include errors
class AC_AttitudeControl;
class AC_PosControl;
@ -150,6 +217,8 @@ public:
void Write_Parameter(const char *name, float value);
void Write_Event(Log_Event id);
void Write_Error(LogErrorSubsystem sub_system,
LogErrorCode error_code);
void Write_GPS(uint8_t instance, uint64_t time_us=0);
void Write_RFND(const RangeFinder &rangefinder);
void Write_IMU();

15
libraries/AP_Logger/LogStructure.h
View File

@ -163,6 +163,14 @@ struct PACKED log_Event {
uint64_t time_us;
uint8_t id;
};
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
struct PACKED log_GPS {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -1490,7 +1498,10 @@ Format characters in the format string for binary log messages
{ LOG_EVENT_MSG, sizeof(log_Event), \
"EV", "QB", "TimeUS,Id", "s-", "F-" }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }, \
{ LOG_ERROR_MSG, sizeof(log_Error), \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }
// #endif
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
@ -1648,6 +1659,8 @@ enum LogMessages : uint8_t {
LOG_EVENT_MSG,
LOG_WHEELENCODER_MSG,
LOG_MAV_MSG,
LOG_ERROR_MSG,
_LOG_LAST_MSG_
};