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More print cleanups in commander app

sbg
Lorenz Meier 12 years ago
parent
9608dfefa3
commit
31ca806958
1 changed files with 23 additions and 23 deletions
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  1. 46
      apps/commander/state_machine_helper.c

46
apps/commander/state_machine_helper.c
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@ -93,8 +93,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = true; current_status->flag_system_armed = true;
fprintf(stderr, "[cmd] EMERGENCY LANDING!\n"); warnx("EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY LANDING!"); mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
break; break;
case SYSTEM_STATE_EMCY_CUTOFF: case SYSTEM_STATE_EMCY_CUTOFF:
@ -103,8 +103,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = false; current_status->flag_system_armed = false;
fprintf(stderr, "[cmd] EMERGENCY MOTOR CUTOFF!\n"); warnx("EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY MOTOR CUTOFF!"); mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
break; break;
case SYSTEM_STATE_GROUND_ERROR: case SYSTEM_STATE_GROUND_ERROR:
@ -114,8 +114,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* prevent actuators from arming */ /* prevent actuators from arming */
current_status->flag_system_armed = false; current_status->flag_system_armed = false;
fprintf(stderr, "[cmd] GROUND ERROR, locking down propulsion system\n"); warnx("GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "[cmd] GROUND ERROR, locking down propulsion system"); mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
break; break;
case SYSTEM_STATE_PREFLIGHT: case SYSTEM_STATE_PREFLIGHT:
@ -123,11 +123,11 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = false; current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to PREFLIGHT state"); mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
} else { } else {
invalid_state = true; invalid_state = true;
mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to switch to PREFLIGHT state"); mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
} }
break; break;
@ -138,14 +138,14 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
invalid_state = false; invalid_state = false;
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = false; current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] REBOOTING SYSTEM"); mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
usleep(500000); usleep(500000);
up_systemreset(); up_systemreset();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else { } else {
invalid_state = true; invalid_state = true;
mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to REBOOT"); mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
} }
break; break;
@ -156,7 +156,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* standby enforces disarmed */ /* standby enforces disarmed */
current_status->flag_system_armed = false; current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to STANDBY state"); mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
break; break;
case SYSTEM_STATE_GROUND_READY: case SYSTEM_STATE_GROUND_READY:
@ -166,7 +166,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* ground ready has motors / actuators armed */ /* ground ready has motors / actuators armed */
current_status->flag_system_armed = true; current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to GROUND READY state"); mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
break; break;
case SYSTEM_STATE_AUTO: case SYSTEM_STATE_AUTO:
@ -176,7 +176,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* auto is airborne and in auto mode, motors armed */ /* auto is airborne and in auto mode, motors armed */
current_status->flag_system_armed = true; current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / AUTO mode"); mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
break; break;
case SYSTEM_STATE_STABILIZED: case SYSTEM_STATE_STABILIZED:
@ -184,7 +184,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = true; current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / STABILIZED mode"); mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
break; break;
case SYSTEM_STATE_MANUAL: case SYSTEM_STATE_MANUAL:
@ -192,7 +192,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */ /* set system flags according to state */
current_status->flag_system_armed = true; current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / MANUAL mode"); mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
break; break;
default: default:
@ -208,7 +208,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
} }
if (invalid_state) { if (invalid_state) {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING invalid state transition"); mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
ret = ERROR; ret = ERROR;
} }
@ -260,7 +260,7 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
*/ */
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{ {
fprintf(stderr, "[cmd] EMERGENCY HANDLER\n"); warnx("EMERGENCY HANDLER\n");
/* Depending on the current state go to one of the error states */ /* Depending on the current state go to one of the error states */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
@ -272,7 +272,7 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
} else { } else {
fprintf(stderr, "[cmd] Unknown system state: #%d\n", current_status->state_machine); warnx("Unknown system state: #%d\n", current_status->state_machine);
} }
} }
@ -639,11 +639,11 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY && } else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
current_status->flag_system_armed) { current_status->flag_system_armed) {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, disarm first!") mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
} else { } else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, not in standby.") mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
} }
} }
@ -684,8 +684,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
/* NEVER actually switch off HIL without reboot */ /* NEVER actually switch off HIL without reboot */
if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[cmd] DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
mavlink_log_critical(mavlink_fd, "[cmd] Power-cycle to exit HIL"); mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
ret = ERROR; ret = ERROR;
} }
@ -710,7 +710,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) { if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
printf("system will reboot\n"); printf("system will reboot\n");
mavlink_log_critical(mavlink_fd, "[cmd] Rebooting.."); mavlink_log_critical(mavlink_fd, "Rebooting..");
usleep(200000); usleep(200000);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0; ret = 0;

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