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Moved mavlink log to system lib

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This commit is contained in:
Lorenz Meier
2013-08-21 14:54:57 +02:00
parent 64b8f5232b
commit 5be2f4a792
4 changed files with 10 additions and 19 deletions
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src/drivers/px4io/px4io.cpp
+1 -1
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@@ -864,7 +864,7 @@ PX4IO::io_set_arming_state()
} }
int int
PX4IO::io_disable_rc_handling() PX4IO::disable_rc_handling()
{ {
return io_disable_rc_handling(); return io_disable_rc_handling();
} }
src/modules/mavlink/module.mk
-1
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@@ -39,7 +39,6 @@ MODULE_COMMAND = mavlink
SRCS += mavlink.c \ SRCS += mavlink.c \
missionlib.c \ missionlib.c \
mavlink_parameters.c \ mavlink_parameters.c \
mavlink_log.c \
mavlink_receiver.cpp \ mavlink_receiver.cpp \
orb_listener.c \ orb_listener.c \
waypoints.c waypoints.c
src/modules/mavlink/mavlink_log.c → src/modules/systemlib/mavlink_log.c
+6 -15
View File
@@ -46,28 +46,25 @@
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
static FILE* text_recorder_fd = NULL; __EXPORT void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{ {
lb->size = size; lb->size = size;
lb->start = 0; lb->start = 0;
lb->count = 0; lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage)); lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
} }
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) __EXPORT int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
{ {
return lb->count == (int)lb->size; return lb->count == (int)lb->size;
} }
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) __EXPORT int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
{ {
return lb->count == 0; return lb->count == 0;
} }
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) __EXPORT void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
{ {
int end = (lb->start + lb->count) % lb->size; int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage)); memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
@@ -80,19 +77,13 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
} }
} }
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) __EXPORT int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
{ {
if (!mavlink_logbuffer_is_empty(lb)) { if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage)); memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size; lb->start = (lb->start + 1) % lb->size;
--lb->count; --lb->count;
if (text_recorder_fd) {
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
fputc("\n", text_recorder_fd);
fsync(text_recorder_fd);
}
return 0; return 0;
} else { } else {
@@ -100,7 +91,7 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
} }
} }
void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...) __EXPORT void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...)
{ {
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap, fmt);
src/modules/systemlib/module.mk
+2 -1
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@@ -48,4 +48,5 @@ SRCS = err.c \
geo/geo.c \ geo/geo.c \
systemlib.c \ systemlib.c \
airspeed.c \ airspeed.c \
system_params.c system_params.c \
mavlink_log.c