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Fix severity handling of text messages

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This commit is contained in:
Lorenz Meier
2014-07-12 14:30:49 +02:00
parent 5616a07bf3
commit 629ab5540f
2 changed files with 68 additions and 17 deletions
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src/modules/mavlink/mavlink_main.cpp
+32 -7
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@@ -492,6 +492,7 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
// printf("logmsg: %s\n", txt);
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
msg.severity = (unsigned char)cmd;
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
@@ -840,7 +841,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
/* Start sending parameters */
mavlink_pm_start_queued_send();
send_statustext("[mavlink pm] sending list");
send_statustext_info("[pm] sending list");
}
} break;
@@ -864,7 +865,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown: %s", name);
send_statustext(buf);
send_statustext_info(buf);
} else {
/* set and send parameter */
@@ -901,17 +902,28 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
}
int
Mavlink::send_statustext(const char *string)
Mavlink::send_statustext_info(const char *string)
{
return send_statustext(MAV_SEVERITY_INFO, string);
return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string);
}
int
Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
Mavlink::send_statustext_critical(const char *string)
{
return send_statustext(MAVLINK_IOC_SEND_TEXT_CRITICAL, string);
}
int
Mavlink::send_statustext_emergency(const char *string)
{
return send_statustext(MAVLINK_IOC_SEND_TEXT_EMERGENCY, string);
}
int
Mavlink::send_statustext(unsigned severity, const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
statustext.severity = severity;
int i = 0;
@@ -929,6 +941,19 @@ Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
/* Enforce null termination */
statustext.text[i] = '\0';
/* Map severity */
switch (severity) {
case MAVLINK_IOC_SEND_TEXT_INFO:
statustext.severity = MAV_SEVERITY_INFO;
break;
case MAVLINK_IOC_SEND_TEXT_CRITICAL:
statustext.severity = MAV_SEVERITY_CRITICAL;
break;
case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
statustext.severity = MAV_SEVERITY_EMERGENCY;
break;
}
mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
return OK;
@@ -1449,7 +1474,7 @@ Mavlink::task_main(int argc, char *argv[])
int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
if (lb_ret == OK) {
send_statustext(msg.text);
send_statustext(msg.severity, msg.text);
}
}
}