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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
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@@ -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;