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Rover: text message severity uniformization 

Global revision of message severity values.

Required also change to the low priority function gcs_send_text_fmt()
on GCS_Mavlink.cpp to disable the automatic setting of priority on
messages sent by this function
master
lvale 9 years ago committed by Randy Mackay
parent
549695181c
commit
a64689600f
9 changed files with 35 additions and 40 deletions
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  1. 12
      APMrover2/GCS_Mavlink.cpp
  2. 4
      APMrover2/Log.cpp
  3. 2
      APMrover2/Rover.h
  4. 2
      APMrover2/Steering.cpp
  5. 4
      APMrover2/commands.cpp
  6. 18
      APMrover2/commands_logic.cpp
  7. 5
      APMrover2/navigation.cpp
  8. 12
      APMrover2/sensors.cpp
  9. 16
      APMrover2/system.cpp

12
APMrover2/GCS_Mavlink.cpp
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@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t result = MAV_RESULT_UNSUPPORTED; uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command // do command
send_text(MAV_SEVERITY_WARNING,"command received: "); send_text(MAV_SEVERITY_INFO,"command received: ");
switch(packet.command) { switch(packet.command) {
@ -1137,10 +1137,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{ {
// mark the firmware version in the tlog // mark the firmware version in the tlog
send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING); send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION) #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION); send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif #endif
handle_param_request_list(msg); handle_param_request_list(msg);
break; break;
@ -1363,7 +1363,7 @@ void Rover::mavlink_delay_cb()
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
last_5s = tnow; last_5s = tnow;
gcs_send_text(MAV_SEVERITY_WARNING, "Initialising APM..."); gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
} }
check_usb_mux(); check_usb_mux();
@ -1440,10 +1440,10 @@ void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
* only one fits in the queue, so if you send more than one before the * only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost * last one gets into the serial buffer then the old one will be lost
*/ */
void Rover::gcs_send_text_fmt(const char *fmt, ...) void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{ {
va_list arg_list; va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING; gcs[0].pending_status.severity = (uint8_t)severity;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf((char *)gcs[0].pending_status.text, hal.util->vsnprintf((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list); sizeof(gcs[0].pending_status.text), fmt, arg_list);

4
APMrover2/Log.cpp
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@ -391,9 +391,9 @@ void Rover::log_init(void)
gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted"); gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
g.log_bitmask.set(0); g.log_bitmask.set(0);
} else if (DataFlash.NeedPrep()) { } else if (DataFlash.NeedPrep()) {
gcs_send_text(MAV_SEVERITY_WARNING, "Preparing log system"); gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
DataFlash.Prep(); DataFlash.Prep();
gcs_send_text(MAV_SEVERITY_WARNING, "Prepared log system"); gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) { for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout(); gcs[i].reset_cli_timeout();
} }

2
APMrover2/Rover.h
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@ -489,7 +489,7 @@ private:
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void frsky_telemetry_send(void); void frsky_telemetry_send(void);
void print_hit_enter(); void print_hit_enter();
void gcs_send_text_fmt(const char *fmt, ...); void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode); void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd); bool verify_command(const AP_Mission::Mission_Command& cmd);

2
APMrover2/Steering.cpp
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@ -57,7 +57,7 @@ bool Rover::auto_check_trigger(void)
if (!is_zero(g.auto_kickstart)) { if (!is_zero(g.auto_kickstart)) {
float xaccel = ins.get_accel().x; float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) { if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt("Triggered AUTO xaccel=%.1f", (double)xaccel); gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", (double)xaccel);
auto_triggered = true; auto_triggered = true;
return true; return true;
} }

4
APMrover2/commands.cpp
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@ -30,7 +30,7 @@ void Rover::set_next_WP(const struct Location& loc)
// location as the previous waypoint, to prevent immediately // location as the previous waypoint, to prevent immediately
// considering the waypoint complete // considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_WARNING, "Resetting prev_WP"); gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting prev_WP");
prev_WP = current_loc; prev_WP = current_loc;
} }
@ -63,7 +63,7 @@ void Rover::init_home()
return; return;
} }
gcs_send_text(MAV_SEVERITY_WARNING, "init home"); gcs_send_text(MAV_SEVERITY_INFO, "init home");
ahrs.set_home(gps.location()); ahrs.set_home(gps.location());
home_is_set = true; home_is_set = true;

18
APMrover2/commands_logic.cpp
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@ -17,7 +17,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
return false; return false;
} }
gcs_send_text_fmt("Executing command ID #%i",cmd.id); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
// remember the course of our next navigation leg // remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0); next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
@ -117,7 +117,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
void Rover::exit_mission() void Rover::exit_mission()
{ {
if (control_mode == AUTO) { if (control_mode == AUTO) {
gcs_send_text_fmt("No commands. Can't set AUTO - setting HOLD"); gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO - setting HOLD");
set_mode(HOLD); set_mode(HOLD);
} }
} }
@ -203,7 +203,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if we need to loiter at this waypoint // Check if we need to loiter at this waypoint
if (loiter_time_max > 0) { if (loiter_time_max > 0) {
if (loiter_time == 0) { // check if we are just starting loiter if (loiter_time == 0) { // check if we are just starting loiter
gcs_send_text_fmt("Reached Waypoint #%i - Loiter for %i seconds", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i - Loiter for %i seconds",
(unsigned)cmd.index, (unsigned)cmd.index,
(unsigned)loiter_time_max); (unsigned)loiter_time_max);
// record the current time i.e. start timer // record the current time i.e. start timer
@ -214,7 +214,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
return false; return false;
} }
} else { } else {
gcs_send_text_fmt("Reached Waypoint #%i dist %um", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Waypoint #%i dist %um",
(unsigned)cmd.index, (unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP)); (unsigned)get_distance(current_loc, next_WP));
} }
@ -228,7 +228,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if we have gone futher past the wp then last time and output new message if we have // check if we have gone futher past the wp then last time and output new message if we have
if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) { if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
distance_past_wp = get_distance(current_loc, next_WP); distance_past_wp = get_distance(current_loc, next_WP);
gcs_send_text_fmt("Passed Waypoint #%i dist %um", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed Waypoint #%i dist %um",
(unsigned)cmd.index, (unsigned)cmd.index,
(unsigned)distance_past_wp); (unsigned)distance_past_wp);
} }
@ -248,14 +248,14 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL() bool Rover::verify_RTL()
{ {
if (wp_distance <= g.waypoint_radius) { if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_WARNING,"Reached Destination"); gcs_send_text(MAV_SEVERITY_INFO,"Reached Destination");
rtl_complete = true; rtl_complete = true;
return true; return true;
} }
// have we gone past the waypoint? // have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt("Reached Destination: Distance away %um", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached Destination: Distance away %um",
(unsigned)get_distance(current_loc, next_WP)); (unsigned)get_distance(current_loc, next_WP));
rtl_complete = true; rtl_complete = true;
return true; return true;
@ -309,12 +309,12 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{ {
if (cmd.content.speed.target_ms > 0) { if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms); g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt("Cruise speed: %.1f m/s", (double)g.speed_cruise.get()); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
} }
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) { if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct); g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt("Cruise throttle: %.1f", g.throttle_cruise.get()); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
} }
} }

5
APMrover2/navigation.cpp
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@ -21,11 +21,6 @@ void Rover::navigate()
// ---------------------------- // ----------------------------
wp_distance = get_distance(current_loc, next_WP); wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0){
gcs_send_text(MAV_SEVERITY_CRITICAL,"<navigate> WP error - distance < 0");
return;
}
// control mode specific updates to nav_bearing // control mode specific updates to nav_bearing
// -------------------------------------------- // --------------------------------------------
update_navigation(); update_navigation();

12
APMrover2/sensors.cpp
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@ -4,9 +4,9 @@
void Rover::init_barometer(void) void Rover::init_barometer(void)
{ {
gcs_send_text(MAV_SEVERITY_WARNING, "Calibrating barometer"); gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate(); barometer.calibrate();
gcs_send_text(MAV_SEVERITY_WARNING, "barometer calibration complete"); gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
} }
void Rover::init_sonar(void) void Rover::init_sonar(void)
@ -56,7 +56,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar1 obstacle %u cm", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm); (unsigned)obstacle.sonar1_distance_cm);
} }
obstacle.detected_time_ms = hal.scheduler->millis(); obstacle.detected_time_ms = hal.scheduler->millis();
@ -67,7 +67,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar2 obstacle %u cm", gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
(unsigned)obstacle.sonar2_distance_cm); (unsigned)obstacle.sonar2_distance_cm);
} }
obstacle.detected_time_ms = hal.scheduler->millis(); obstacle.detected_time_ms = hal.scheduler->millis();
@ -83,7 +83,7 @@ void Rover::read_sonars(void)
obstacle.detected_count++; obstacle.detected_count++;
} }
if (obstacle.detected_count == g.sonar_debounce) { if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt("Sonar obstacle %u cm", gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Sonar obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm); (unsigned)obstacle.sonar1_distance_cm);
} }
obstacle.detected_time_ms = hal.scheduler->millis(); obstacle.detected_time_ms = hal.scheduler->millis();
@ -96,7 +96,7 @@ void Rover::read_sonars(void)
// no object detected - reset after the turn time // no object detected - reset after the turn time
if (obstacle.detected_count >= g.sonar_debounce && if (obstacle.detected_count >= g.sonar_debounce &&
hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) {
gcs_send_text_fmt("Obstacle passed"); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Obstacle passed");
obstacle.detected_count = 0; obstacle.detected_count = 0;
obstacle.turn_angle = 0; obstacle.turn_angle = 0;
} }

16
APMrover2/system.cpp
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@ -213,11 +213,11 @@ void Rover::init_ardupilot()
void Rover::startup_ground(void) void Rover::startup_ground(void)
{ {
set_mode(INITIALISING); set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_WARNING,"<startup_ground> GROUND START"); gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> GROUND START");
#if(GROUND_START_DELAY > 0) #if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_WARNING,"<startup_ground> With Delay"); gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With Delay");
delay(GROUND_START_DELAY * 1000); delay(GROUND_START_DELAY * 1000);
#endif #endif
@ -241,7 +241,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash); ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_WARNING,"\n\n Ready to drive."); gcs_send_text(MAV_SEVERITY_INFO,"\n\n Ready to drive.");
} }
/* /*
@ -352,7 +352,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
} }
if (failsafe.triggered != 0 && failsafe.bits == 0) { if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended // a failsafe event has ended
gcs_send_text_fmt("Failsafe ended"); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Failsafe ended");
} }
failsafe.triggered &= failsafe.bits; failsafe.triggered &= failsafe.bits;
@ -363,7 +363,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
control_mode != RTL && control_mode != RTL &&
control_mode != HOLD) { control_mode != HOLD) {
failsafe.triggered = failsafe.bits; failsafe.triggered = failsafe.bits;
gcs_send_text_fmt("Failsafe trigger 0x%x", (unsigned)failsafe.triggered); gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
switch (g.fs_action) { switch (g.fs_action) {
case 0: case 0:
break; break;
@ -379,12 +379,12 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void) void Rover::startup_INS_ground(void)
{ {
gcs_send_text(MAV_SEVERITY_ALERT, "Warming up ADC..."); gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC...");
mavlink_delay(500); mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!! // Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// ----------------------- // -----------------------
gcs_send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration; do not move vehicle"); gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration; do not move vehicle");
mavlink_delay(1000); mavlink_delay(1000);
ahrs.init(); ahrs.init();

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