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commander: update arming & health protocol, add modes to event hash

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This commit is contained in:
Beat Küng
2022-08-31 15:35:12 +02:00
committed by Daniel Agar
parent f57321d365
commit 43c5f14aa0
3 changed files with 19 additions and 21 deletions
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src/modules/commander/HealthAndArmingChecks/Common.cpp
+9 -14
View File
@@ -74,7 +74,7 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
}
Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels,
unsigned args_size)
uint32_t modes, unsigned args_size)
{
unsigned total_size = sizeof(EventBufferHeader) + args_size;
EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + _next_buffer_idx);
@@ -83,7 +83,7 @@ Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const eve
header->size = args_size;
_next_buffer_idx += total_size;
++_results[_current_result].num_events;
_results[_current_result].event_id_hash ^= event_id; // very simple hash
_results[_current_result].event_id_hash ^= event_id ^ modes; // very simple hash
return header;
}
@@ -238,27 +238,22 @@ bool Report::report(bool is_armed, bool force)
#endif
// send arming summary
navigation_mode_group_t can_arm_and_run;
if (is_armed) {
can_arm_and_run = (navigation_mode_group_t)current_results.arming_checks.can_run;
} else {
can_arm_and_run = (navigation_mode_group_t)current_results.arming_checks.can_arm;
}
/* EVENT
* @arg1 chunk_idx
* @arg2 error
* @arg3 warning
* @arg4 can_arm_and_run
* @arg4 can_arm
* @arg5 can_run
* @type summary
* @group arming_check
*/
events::send<uint8_t, events::px4::enums::health_component_t, events::px4::enums::health_component_t,
events::px4::enums::navigation_mode_group_t>(events::ID("commander_arming_check_summary"), events::Log::Protocol,
"Arming check summary event", 0, current_results.arming_checks.error, current_results.arming_checks.warning,
can_arm_and_run);
events::px4::enums::navigation_mode_group_t, events::px4::enums::navigation_mode_group_t>(
events::ID("commander_arming_check_summary"), events::Log::Protocol,
"Arming check summary event", 0, current_results.arming_checks.error, current_results.arming_checks.warning,
(navigation_mode_group_t)current_results.arming_checks.can_arm,
(navigation_mode_group_t)current_results.arming_checks.can_run);
// send all events
int offset = 0;
src/modules/commander/HealthAndArmingChecks/Common.hpp
+9 -6
View File
@@ -292,8 +292,10 @@ private:
void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, events::Log log_level);
template<typename... Args>
bool addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, Args... args);
Report::EventBufferHeader *addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels, unsigned args_size);
bool addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, uint32_t modes,
Args... args);
Report::EventBufferHeader *addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels, uint32_t modes,
unsigned args_size);
NavModes reportedModes(NavModes required_modes);
@@ -360,9 +362,10 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
}
template<typename... Args>
bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, Args... args)
bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, uint32_t modes,
Args... args)
{
constexpr unsigned args_size = events::util::sizeofArguments(args...);
constexpr unsigned args_size = events::util::sizeofArguments(modes, args...);
static_assert(args_size <= sizeof(events::EventType::arguments), "Too many arguments");
unsigned total_size = sizeof(EventBufferHeader) + args_size;
@@ -371,9 +374,9 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co
return false;
}
events::util::fillEventArguments(_event_buffer + _next_buffer_idx + sizeof(EventBufferHeader), args...);
events::util::fillEventArguments(_event_buffer + _next_buffer_idx + sizeof(EventBufferHeader), modes, args...);
// We split out the part of the code not requiring templating to reduce flash usage a bit
EventBufferHeader *header = addEventToBuffer(event_id, log_levels, args_size);
EventBufferHeader *header = addEventToBuffer(event_id, log_levels, modes, args_size);
#ifdef CONSOLE_PRINT_ARMING_CHECK_EVENT
memcpy(&header->message, &message, sizeof(message));
#else