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388 lines
12 KiB
388 lines
12 KiB
#include "Rover.h" |
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#include <AP_RangeFinder/RangeFinder_Backend.h> |
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#if LOGGING_ENABLED == ENABLED |
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struct PACKED log_Performance { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint32_t loop_time; |
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uint16_t main_loop_count; |
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uint32_t g_dt_max; |
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int16_t gyro_drift_x; |
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int16_t gyro_drift_y; |
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int16_t gyro_drift_z; |
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uint8_t i2c_lockup_count; |
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uint16_t ins_error_count; |
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uint32_t mem_avail; |
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}; |
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// Write a performance monitoring packet. Total length : 19 bytes |
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void Rover::Log_Write_Performance() |
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{ |
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struct log_Performance pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG), |
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time_us : AP_HAL::micros64(), |
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loop_time : millis()- perf_mon_timer, |
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main_loop_count : mainLoop_count, |
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g_dt_max : G_Dt_max, |
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gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000), |
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gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000), |
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gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000), |
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i2c_lockup_count: 0, |
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ins_error_count : ins.error_count(), |
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hal.util->available_memory() |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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struct PACKED log_Steering { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float demanded_accel; |
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float achieved_accel; |
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}; |
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// Write a steering packet |
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void Rover::Log_Write_Steering() |
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{ |
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struct log_Steering pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG), |
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time_us : AP_HAL::micros64(), |
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demanded_accel : control_mode->lateral_acceleration, |
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achieved_accel : ahrs.groundspeed() * ins.get_gyro().z, |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// Write beacon position and distances |
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void Rover::Log_Write_Beacon() |
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{ |
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// exit immediately if feature is disabled |
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if (!g2.beacon.enabled()) { |
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return; |
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} |
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DataFlash.Log_Write_Beacon(g2.beacon); |
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} |
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struct PACKED log_Startup { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t startup_type; |
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uint16_t command_total; |
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}; |
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void Rover::Log_Write_Startup(uint8_t type) |
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{ |
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struct log_Startup pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG), |
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time_us : AP_HAL::micros64(), |
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startup_type : type, |
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command_total : mission.num_commands() |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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struct PACKED log_Control_Tuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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int16_t steer_out; |
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int16_t roll; |
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int16_t pitch; |
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int16_t throttle_out; |
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float accel_y; |
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}; |
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// Write a control tuning packet. Total length : 22 bytes |
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void Rover::Log_Write_Control_Tuning() |
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{ |
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const Vector3f accel = ins.get_accel(); |
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struct log_Control_Tuning pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG), |
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time_us : AP_HAL::micros64(), |
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steer_out : (int16_t)g2.motors.get_steering(), |
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roll : (int16_t)ahrs.roll_sensor, |
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pitch : (int16_t)ahrs.pitch_sensor, |
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throttle_out : (int16_t)g2.motors.get_throttle(), |
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accel_y : accel.y |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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struct PACKED log_Nav_Tuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint16_t yaw; |
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float wp_distance; |
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uint16_t target_bearing_cd; |
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uint16_t nav_bearing_cd; |
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int8_t throttle; |
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float xtrack_error; |
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}; |
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// Write a navigation tuning packet |
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void Rover::Log_Write_Nav_Tuning() |
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{ |
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struct log_Nav_Tuning pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG), |
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time_us : AP_HAL::micros64(), |
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yaw : static_cast<uint16_t>(ahrs.yaw_sensor), |
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wp_distance : control_mode->get_distance_to_destination(), |
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target_bearing_cd : static_cast<uint16_t>(abs(nav_controller->target_bearing_cd())), |
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nav_bearing_cd : static_cast<uint16_t>(abs(nav_controller->nav_bearing_cd())), |
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throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)), |
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xtrack_error : nav_controller->crosstrack_error() |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// Write an attitude packet |
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void Rover::Log_Write_Attitude() |
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{ |
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const Vector3f targets(0.0f, 0.0f, 0.0f); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message |
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DataFlash.Log_Write_Attitude(ahrs, targets); |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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DataFlash.Log_Write_EKF(ahrs); |
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DataFlash.Log_Write_AHRS2(ahrs); |
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#endif |
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DataFlash.Log_Write_POS(ahrs); |
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// log steering rate controller |
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DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info()); |
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DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info()); |
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} |
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struct PACKED log_Rangefinder { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float lateral_accel; |
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uint16_t rangefinder1_distance; |
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uint16_t rangefinder2_distance; |
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uint16_t detected_count; |
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int8_t turn_angle; |
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uint16_t turn_time; |
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uint16_t ground_speed; |
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int8_t throttle; |
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}; |
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// Write a rangefinder packet |
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void Rover::Log_Write_Rangefinder() |
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{ |
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uint16_t turn_time = 0; |
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if (!is_zero(obstacle.turn_angle)) { |
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turn_time = AP_HAL::millis() - obstacle.detected_time_ms; |
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} |
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AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0); |
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AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1); |
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struct log_Rangefinder pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG), |
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time_us : AP_HAL::micros64(), |
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lateral_accel : control_mode->lateral_acceleration, |
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rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0, |
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rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0, |
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detected_count : obstacle.detected_count, |
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turn_angle : static_cast<int8_t>(obstacle.turn_angle), |
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turn_time : turn_time, |
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ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)), |
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throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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void Rover::Log_Write_Current() |
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{ |
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DataFlash.Log_Write_Current(battery); |
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// also write power status |
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DataFlash.Log_Write_Power(); |
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} |
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struct PACKED log_Arm_Disarm { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t arm_state; |
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uint16_t arm_checks; |
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}; |
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void Rover::Log_Arm_Disarm() { |
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struct log_Arm_Disarm pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG), |
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time_us : AP_HAL::micros64(), |
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arm_state : arming.is_armed(), |
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arm_checks : arming.get_enabled_checks() |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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void Rover::Log_Write_RC(void) |
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{ |
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DataFlash.Log_Write_RCIN(); |
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DataFlash.Log_Write_RCOUT(); |
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if (rssi.enabled()) { |
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DataFlash.Log_Write_RSSI(rssi); |
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} |
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} |
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struct PACKED log_Error { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t sub_system; |
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uint8_t error_code; |
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}; |
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// Write an error packet |
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void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) |
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{ |
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struct log_Error pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG), |
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time_us : AP_HAL::micros64(), |
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sub_system : sub_system, |
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error_code : error_code, |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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void Rover::Log_Write_Baro(void) |
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{ |
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DataFlash.Log_Write_Baro(barometer); |
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} |
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// log ahrs home and EKF origin to dataflash |
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void Rover::Log_Write_Home_And_Origin() |
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{ |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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// log ekf origin if set |
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Location ekf_orig; |
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if (ahrs.get_origin(ekf_orig)) { |
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DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig); |
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} |
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#endif |
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// log ahrs home if set |
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if (home_is_set != HOME_UNSET) { |
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DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home()); |
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} |
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} |
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// guided mode logging |
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struct PACKED log_GuidedTarget { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t type; |
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float pos_target_x; |
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float pos_target_y; |
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float pos_target_z; |
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float vel_target_x; |
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float vel_target_y; |
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float vel_target_z; |
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}; |
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// Write a Guided mode target |
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void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) |
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{ |
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struct log_GuidedTarget pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG), |
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time_us : AP_HAL::micros64(), |
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type : target_type, |
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pos_target_x : pos_target.x, |
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pos_target_y : pos_target.y, |
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pos_target_z : pos_target.z, |
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vel_target_x : vel_target.x, |
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vel_target_y : vel_target.y, |
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vel_target_z : vel_target.z |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// wheel encoder packet |
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struct PACKED log_WheelEncoder { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float distance_0; |
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uint8_t quality_0; |
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float distance_1; |
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uint8_t quality_1; |
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}; |
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// log wheel encoder information |
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void Rover::Log_Write_WheelEncoder() |
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{ |
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// return immediately if no wheel encoders are enabled |
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if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) { |
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return; |
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} |
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struct log_WheelEncoder pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG), |
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time_us : AP_HAL::micros64(), |
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distance_0 : g2.wheel_encoder.get_distance(0), |
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quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f), |
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distance_1 : g2.wheel_encoder.get_distance(1), |
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quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f) |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// type and unit information can be found in |
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// libraries/DataFlash/Logstructure.h; search for "log_Units" for |
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// units and "Format characters" for field type information |
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const LogStructure Rover::log_structure[] = { |
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LOG_COMMON_STRUCTURES, |
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), |
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"PM", "QIHIhhhBHI", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr,Mem", "ss-------b", "FC-------0" }, |
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{ LOG_STARTUP_MSG, sizeof(log_Startup), |
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"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" }, |
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), |
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"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY", "s-dd-o", "F-BB-0" }, |
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), |
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"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT", "sdmdd-m", "FB0BB-0" }, |
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{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder), |
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"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" }, |
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{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), |
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"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" }, |
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{ LOG_STEERING_MSG, sizeof(log_Steering), |
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"STER", "Qff", "TimeUS,Demanded,Achieved", "so?", "F0?" }, |
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget), |
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" }, |
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{ LOG_ERROR_MSG, sizeof(log_Error), |
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"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, |
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{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), |
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"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" }, |
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}; |
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void Rover::log_init(void) |
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{ |
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); |
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} |
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void Rover::Log_Write_Vehicle_Startup_Messages() |
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{ |
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// only 200(?) bytes are guaranteed by DataFlash |
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Log_Write_Startup(TYPE_GROUNDSTART_MSG); |
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DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason); |
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Log_Write_Home_And_Origin(); |
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gps.Write_DataFlash_Log_Startup_messages(); |
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} |
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#else // LOGGING_ENABLED |
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// dummy functions |
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void Rover::Log_Write_Startup(uint8_t type) {} |
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void Rover::Log_Write_Current() {} |
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void Rover::Log_Write_Nav_Tuning() {} |
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void Rover::Log_Write_Performance() {} |
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void Rover::Log_Write_Control_Tuning() {} |
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void Rover::Log_Write_Rangefinder() {} |
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void Rover::Log_Write_Attitude() {} |
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void Rover::Log_Write_RC(void) {} |
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void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} |
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void Rover::Log_Write_Home_And_Origin() {} |
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void Rover::Log_Write_Baro(void) {} |
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void Rover::Log_Arm_Disarm() {} |
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void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} |
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void Rover::Log_Write_Steering() {} |
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void Rover::Log_Write_WheelEncoder() {} |
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#endif // LOGGING_ENABLED
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