From c369139be0d04fd8ad9e780fb03718412efa9306 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 16 Oct 2019 20:48:00 -0700
Subject: [PATCH] AP_Logger: Support new ModeReason

---
 libraries/AP_Logger/AP_Logger.cpp       | 2 +-
 libraries/AP_Logger/AP_Logger.h         | 3 ++-
 libraries/AP_Logger/AP_Logger_Backend.h | 2 +-
 libraries/AP_Logger/LogFile.cpp         | 5 +++--
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index 12cb0d2524..697db9dd00 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -705,7 +705,7 @@ void AP_Logger::Write_Message(const char *message)
     FOR_EACH_BACKEND(Write_Message(message));
 }
 
-void AP_Logger::Write_Mode(uint8_t mode, uint8_t reason)
+void AP_Logger::Write_Mode(uint8_t mode, const ModeReason reason)
 {
     FOR_EACH_BACKEND(Write_Mode(mode, reason));
 }
diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index cd9a6dbb99..e6e514e9d5 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -18,6 +18,7 @@
 #include <AP_Beacon/AP_Beacon.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_InertialSensor/AP_InertialSensor_Backend.h>
+#include <AP_Vehicle/ModeReason.h>
 
 #include <stdint.h>
 
@@ -258,7 +259,7 @@ public:
     void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
     void Write_Current();
     void Write_Compass(uint64_t time_us=0);
-    void Write_Mode(uint8_t mode, uint8_t reason);
+    void Write_Mode(uint8_t mode, const ModeReason reason);
 
     void Write_EntireMission();
     void Write_Command(const mavlink_command_int_t &packet, MAV_RESULT result, bool was_command_long=false);
diff --git a/libraries/AP_Logger/AP_Logger_Backend.h b/libraries/AP_Logger/AP_Logger_Backend.h
index 1ea8d183f7..2e4b87bc47 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.h
+++ b/libraries/AP_Logger/AP_Logger_Backend.h
@@ -93,7 +93,7 @@ public:
     bool Write_MessageF(const char *fmt, ...);
     bool Write_Mission_Cmd(const AP_Mission &mission,
                                const AP_Mission::Mission_Command &cmd);
-    bool Write_Mode(uint8_t mode, uint8_t reason = 0);
+    bool Write_Mode(uint8_t mode, const ModeReason reason = ModeReason::UNKNOWN);
     bool Write_Parameter(const char *name, float value);
     bool Write_Parameter(const AP_Param *ap,
                              const AP_Param::ParamToken &token,
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index b327a192c9..2ba523a549 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -760,14 +760,15 @@ void AP_Logger::Write_Compass(uint64_t time_us)
 }
 
 // Write a mode packet.
-bool AP_Logger_Backend::Write_Mode(uint8_t mode, uint8_t reason)
+bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
 {
+    static_assert(sizeof(ModeReason) <= sizeof(uint8_t), "Logging expects the ModeReason to fit in 8 bits");
     const struct log_Mode pkt{
         LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
         time_us  : AP_HAL::micros64(),
         mode     : mode,
         mode_num : mode,
-        mode_reason : reason
+        mode_reason : static_cast<uint8_t>(reason)
     };
     return WriteCriticalBlock(&pkt, sizeof(pkt));
 }