forked from Archive/PX4-Autopilot
Fix severity handling of text messages
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5616a07bf3
commit
629ab5540f
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@ -492,6 +492,7 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
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// printf("logmsg: %s\n", txt);
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struct mavlink_logmessage msg;
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strncpy(msg.text, txt, sizeof(msg.text));
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msg.severity = (unsigned char)cmd;
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Mavlink *inst;
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LL_FOREACH(_mavlink_instances, inst) {
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@ -840,7 +841,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
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(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
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/* Start sending parameters */
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mavlink_pm_start_queued_send();
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send_statustext("[mavlink pm] sending list");
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send_statustext_info("[pm] sending list");
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}
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} break;
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@ -864,7 +865,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
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if (param == PARAM_INVALID) {
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char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
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sprintf(buf, "[pm] unknown: %s", name);
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send_statustext(buf);
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send_statustext_info(buf);
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} else {
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/* set and send parameter */
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@ -901,17 +902,28 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
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}
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int
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Mavlink::send_statustext(const char *string)
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Mavlink::send_statustext_info(const char *string)
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{
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return send_statustext(MAV_SEVERITY_INFO, string);
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return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string);
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}
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int
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Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
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Mavlink::send_statustext_critical(const char *string)
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{
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return send_statustext(MAVLINK_IOC_SEND_TEXT_CRITICAL, string);
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}
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int
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Mavlink::send_statustext_emergency(const char *string)
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{
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return send_statustext(MAVLINK_IOC_SEND_TEXT_EMERGENCY, string);
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}
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int
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Mavlink::send_statustext(unsigned severity, const char *string)
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{
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const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
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mavlink_statustext_t statustext;
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statustext.severity = severity;
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int i = 0;
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@ -929,6 +941,19 @@ Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
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/* Enforce null termination */
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statustext.text[i] = '\0';
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/* Map severity */
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switch (severity) {
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case MAVLINK_IOC_SEND_TEXT_INFO:
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statustext.severity = MAV_SEVERITY_INFO;
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break;
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case MAVLINK_IOC_SEND_TEXT_CRITICAL:
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statustext.severity = MAV_SEVERITY_CRITICAL;
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break;
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case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
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statustext.severity = MAV_SEVERITY_EMERGENCY;
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break;
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}
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mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
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return OK;
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@ -1449,7 +1474,7 @@ Mavlink::task_main(int argc, char *argv[])
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int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
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if (lb_ret == OK) {
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send_statustext(msg.text);
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send_statustext(msg.severity, msg.text);
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}
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}
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}
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@ -157,9 +157,9 @@ public:
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*/
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int set_hil_enabled(bool hil_enabled);
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void send_message(const mavlink_message_t *msg);
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void send_message(const mavlink_message_t *msg);
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void handle_message(const mavlink_message_t *msg);
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void handle_message(const mavlink_message_t *msg);
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MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
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@ -174,17 +174,43 @@ public:
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mavlink_channel_t get_channel();
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void configure_stream_threadsafe(const char *stream_name, float rate);
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void configure_stream_threadsafe(const char *stream_name, float rate);
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bool _task_should_exit; /**< if true, mavlink task should exit */
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int get_mavlink_fd() { return _mavlink_fd; }
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int send_statustext(const char *string);
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int send_statustext(enum MAV_SEVERITY severity, const char *string);
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MavlinkStream * get_streams() const { return _streams; }
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/**
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* Send a status text with loglevel INFO
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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int send_statustext_info(const char *string);
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float get_rate_mult();
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/**
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* Send a status text with loglevel CRITICAL
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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int send_statustext_critical(const char *string);
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/**
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* Send a status text with loglevel EMERGENCY
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*
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* @param string the message to send (will be capped by mavlink max string length)
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*/
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int send_statustext_emergency(const char *string);
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/**
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* Send a status text with loglevel
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*
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* @param string the message to send (will be capped by mavlink max string length)
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* @param severity the log level, one of
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*/
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int send_statustext(unsigned severity, const char *string);
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MavlinkStream * get_streams() const { return _streams; }
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float get_rate_mult();
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/* Functions for waiting to start transmission until message received. */
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void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
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@ -195,13 +221,13 @@ public:
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bool message_buffer_write(const void *ptr, int size);
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void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
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void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
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void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
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void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
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/**
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* Count a transmision error
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*/
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void count_txerr();
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void count_txerr();
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protected:
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Mavlink *next;
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