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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
2022-09-01 17:07:23 -04:00
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.hpp
+9 -6
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@@ -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