Rover: move Log_Write_Error into library

APMrover2/Log.cpp

@@ -83,25 +83,6 @@ void Rover::Log_Write_Depth()
                         (double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f));
 }
 
-struct PACKED log_Error {
-  LOG_PACKET_HEADER;
-  uint64_t time_us;
-  uint8_t sub_system;
-  uint8_t error_code;
-};
-
-// Write an error packet
-void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
-{
-  struct log_Error pkt = {
-      LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
-      time_us       : AP_HAL::micros64(),
-      sub_system    : sub_system,
-      error_code    : error_code,
-  };
-  logger.WriteBlock(&pkt, sizeof(pkt));
-}
-
 // guided mode logging
 struct PACKED log_GuidedTarget {
     LOG_PACKET_HEADER;
@@ -335,8 +316,6 @@ const LogStructure Rover::log_structure[] = {
       "STER", "Qhfffff",   "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
     { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
       "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
-    { LOG_ERROR_MSG, sizeof(log_Error),
-      "ERR",   "QBB",         "TimeUS,Subsys,ECode", "s--", "F--" },
 };
 
 void Rover::log_init(void)
@@ -350,7 +329,6 @@ void Rover::log_init(void)
 void Rover::Log_Write_Arm_Disarm() {}
 void Rover::Log_Write_Attitude() {}
 void Rover::Log_Write_Depth() {}
-void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
 void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
 void Rover::Log_Write_Nav_Tuning() {}
 void Rover::Log_Write_Sail() {}

APMrover2/Rover.h

@@ -423,7 +423,6 @@ private:
     void Log_Write_Arm_Disarm();
     void Log_Write_Attitude();
     void Log_Write_Depth();
-    void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
     void Log_Write_Nav_Tuning();
     void Log_Write_Sail();

APMrover2/crash_check.cpp

@@ -46,7 +46,8 @@ void Rover::crash_check()
 
     if (crashed) {
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
+        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
+                                 LogErrorCode::CRASH_CHECK_CRASH);
 
         if (is_balancebot()) {
             // send message to gcs

APMrover2/defines.h

@@ -29,7 +29,6 @@
 #define LOG_ARM_DISARM_MSG      0x08
 #define LOG_STEERING_MSG        0x0D
 #define LOG_GUIDEDTARGET_MSG    0x0E
-#define LOG_ERROR_MSG           0x13
 
 #define TYPE_AIRSTART_MSG       0x00
 #define TYPE_GROUNDSTART_MSG    0x01
@@ -67,23 +66,6 @@
 #define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE      (1<<6)
 #define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE      (1<<7)
 
-// general error codes
-#define ERROR_CODE_ERROR_RESOLVED       0
-// Error message sub systems and error codes
-#define ERROR_SUBSYSTEM_FAILSAFE_FENCE  9
-#define ERROR_SUBSYSTEM_FLIGHT_MODE     10
-#define ERROR_SUBSYSTEM_CRASH_CHECK     12
-#define ERROR_SUBSYSTEM_EKFCHECK        16
-#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV    17
-// subsystem specific error codes -- crash checker
-#define ERROR_CODE_CRASH_CHECK_CRASH 1
-// EKF check definitions
-#define ERROR_CODE_EKFCHECK_BAD_VARIANCE       2
-#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED   0
-// subsystem specific error codes -- ekf failsafe
-#define ERROR_CODE_FAILSAFE_RESOLVED        0
-#define ERROR_CODE_FAILSAFE_OCCURRED        1
-
 // radio failsafe enum (FS_THR_ENABLE parameter)
 enum fs_thr_enable {
     FS_THR_DISABLED = 0,

APMrover2/ekf_check.cpp

@@ -53,7 +53,8 @@ void Rover::ekf_check()
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
                 // log an error in the dataflash
-                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
+                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                                         LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -71,7 +72,8 @@ void Rover::ekf_check()
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
                 // log recovery in the dataflash
-                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_VARIANCE_CLEARED);
+                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                                         LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -150,7 +152,8 @@ void Rover::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+                             LogErrorCode::FAILSAFE_OCCURRED);
     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe!");
 
     // does this mode require position?
@@ -180,6 +183,7 @@ void Rover::failsafe_ekf_off_event(void)
 
     // clear flag and log recovery
     failsafe.ekf = false;
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+                             LogErrorCode::FAILSAFE_RESOLVED);
     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe cleared");
 }

APMrover2/fence.cpp

@@ -29,10 +29,11 @@ void Rover::fence_check()
             }
         }
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {
         // record clearing of breach
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
+                                 LogErrorCode::ERROR_RESOLVED);
     }
 }

APMrover2/system.cpp

@@ -240,7 +240,8 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
     Mode &old_mode = *control_mode;
     if (!new_mode.enter()) {
         // Log error that we failed to enter desired flight mode
-        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE, new_mode.mode_number());
+        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE,
+                                 LogErrorCode(new_mode.mode_number()));
         gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
         return false;
     }