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logger: use ORB_ID enum as msg_id

This commit is contained in:
Daniel Agar 2020-10-27 17:41:54 -04:00
parent df2f26ebdf
commit 08c06de595
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GPG Key ID: FD3CBA98017A69DE
4 changed files with 4 additions and 16 deletions
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15
src/modules/logger/logger.cpp
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@ -720,7 +720,7 @@ void Logger::run()
// each message consists of a header followed by an orb data object
const size_t msg_size = sizeof(ulog_message_data_header_s) + sub.get_topic()->o_size_no_padding;
const uint16_t write_msg_size = static_cast<uint16_t>(msg_size - ULOG_MSG_HEADER_LEN);
const uint16_t write_msg_id = sub.msg_id;
const uint16_t write_msg_id = static_cast<uint16_t>(sub.get_orb_id());
//write one byte after another (necessary because of alignment)
_msg_buffer[0] = (uint8_t)write_msg_size;
@ -1605,18 +1605,7 @@ void Logger::write_all_add_logged_msg(LogType type)
void Logger::write_add_logged_msg(LogType type, LoggerSubscription &subscription)
{
ulog_message_add_logged_s msg;
if (subscription.msg_id == MSG_ID_INVALID) {
if (_next_topic_id == MSG_ID_INVALID) {
// if we land here an uint8 is too small -> switch to uint16
PX4_ERR("limit for _next_topic_id reached");
return;
}
subscription.msg_id = _next_topic_id++;
}
msg.msg_id = subscription.msg_id;
msg.msg_id = static_cast<uint16_t>(subscription.get_orb_id());
msg.multi_id = subscription.get_instance();
int message_name_len = strlen(subscription.get_topic()->o_name);

3
src/modules/logger/logger.h
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@ -75,8 +75,6 @@ struct LoggerSubscription : public uORB::SubscriptionInterval {
LoggerSubscription(ORB_ID id, uint32_t interval_ms = 0, uint8_t instance = 0) :
uORB::SubscriptionInterval(id, interval_ms * 1000, instance)
{}
uint8_t msg_id{MSG_ID_INVALID};
};
class Logger : public ModuleBase<Logger>, public ModuleParams
@ -335,7 +333,6 @@ private:
uint32_t _log_interval{0};
const orb_metadata *_polling_topic_meta{nullptr}; ///< if non-null, poll on this topic instead of sleeping
orb_advert_t _mavlink_log_pub{nullptr};
uint8_t _next_topic_id{0}; ///< id of next subscribed ulog topic
char *_replay_file_name{nullptr};
bool _should_stop_file_log{false}; /**< if true _next_load_print is set and file logging
will be stopped after load printing (for the full log) */

1
src/modules/uORB/Subscription.hpp
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@ -159,6 +159,7 @@ public:
uint8_t get_instance() const { return _instance; }
unsigned get_last_generation() const { return _last_generation; }
ORB_ID get_orb_id() const { return _orb_id; }
orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
protected:

1
src/modules/uORB/SubscriptionInterval.hpp
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@ -138,6 +138,7 @@ public:
uint8_t get_instance() const { return _subscription.get_instance(); }
uint32_t get_interval_us() const { return _interval_us; }
unsigned get_last_generation() const { return _subscription.get_last_generation(); }
ORB_ID get_orb_id() const { return _subscription.get_orb_id(); }
orb_id_t get_topic() const { return _subscription.get_topic(); }
/**