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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:28:53 +08:00
mavlink_mission: replace warnx, add mission_type to verbose output
This commit is contained in:
Beat Küng
@@ -193,7 +193,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
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return PX4_OK;
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} else {
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warnx("WPM: ERROR: can't save mission state");
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PX4_ERR("WPM: can't save mission state");
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if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
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_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
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@@ -218,7 +218,7 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
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orb_publish_auto(ORB_ID(geofence_update), &_geofence_update_pub, &geofence_update, nullptr, ORB_PRIO_DEFAULT);
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} else {
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warnx("WPM: ERROR: can't save mission state");
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PX4_ERR("WPM: can't save mission state");
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if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
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_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
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@@ -244,7 +244,7 @@ MavlinkMissionManager::update_safepoint_count(unsigned count)
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_count[(uint8_t)MAV_MISSION_TYPE_RALLY] = count;
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} else {
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warnx("WPM: ERROR: can't save mission state");
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PX4_ERR("WPM: can't save mission state");
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if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
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_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
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@@ -268,7 +268,7 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
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mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa);
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if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
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if (_verbose) { PX4_INFO("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
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}
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@@ -286,7 +286,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
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/* don't broadcast if no WPs */
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} else {
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if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
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if (_verbose) { PX4_ERR("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
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_mavlink->send_statustext_critical("ERROR: wp index out of bounds");
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}
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@@ -307,7 +307,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
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mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc);
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if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
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if (_verbose) { PX4_INFO("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type); }
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}
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@@ -398,7 +398,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
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_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD");
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}
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if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
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if (_verbose) { PX4_ERR("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
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}
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}
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@@ -460,7 +460,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
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} else {
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_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity");
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if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
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if (_verbose) { PX4_ERR("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
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}
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}
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@@ -474,7 +474,7 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
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mavlink_msg_mission_item_reached_send_struct(_mavlink->get_channel(), &wp_reached);
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if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
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if (_verbose) { PX4_INFO("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
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}
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@@ -490,7 +490,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
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_current_seq = mission_result.seq_current;
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if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); }
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if (_verbose) { PX4_INFO("WPM: got mission result, new current_seq: %d", _current_seq); }
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if (mission_result.reached) {
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_time_last_reached = now;
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@@ -543,7 +543,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
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&& hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
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_mavlink->send_statustext_critical("Operation timeout");
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if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
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if (_verbose) { PX4_INFO("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
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_state = MAVLINK_WPM_STATE_IDLE;
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@@ -616,12 +616,12 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
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_time_last_recv = hrt_absolute_time();
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if (_transfer_seq == current_item_count()) {
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if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
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if (_verbose) { PX4_INFO("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
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} else {
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_mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE");
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if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
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}
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_state = MAVLINK_WPM_STATE_IDLE;
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@@ -641,7 +641,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
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_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
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if (_verbose) {
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warnx("WPM: MISSION_ACK ERR: ID mismatch");
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PX4_INFO("WPM: MISSION_ACK ERR: ID mismatch");
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}
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}
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}
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@@ -662,10 +662,10 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
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switch (_mission_type) {
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case MAV_MISSION_TYPE_MISSION:
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if (update_active_mission(_dataman_id, _count[(uint8_t)_mission_type], wpc.seq) == PX4_OK) {
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if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
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if (_verbose) { PX4_INFO("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
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} else {
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if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
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_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
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}
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@@ -686,13 +686,13 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
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}
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} else {
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if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
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_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list");
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}
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} else {
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if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_SET_CURRENT ERROR: busy"); }
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_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy");
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}
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@@ -734,16 +734,21 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
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_transfer_partner_compid = msg->compid;
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if (_transfer_count > 0) {
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if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
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if (_verbose) {
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PX4_INFO("WPM: MISSION_REQUEST_LIST OK, %u mission items to send, mission type=%i", _transfer_count,
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(int)_mission_type);
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}
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} else {
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if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
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if (_verbose) {
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PX4_INFO("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty, mission type=%i", (int)_mission_type);
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}
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}
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send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type);
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} else {
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if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
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_mavlink->send_statustext_critical("IGN REQUEST LIST: Busy");
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}
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@@ -794,22 +799,22 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
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/* _transfer_seq contains sequence of expected request */
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if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u", wpr.seq, msg->sysid); }
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if (_verbose) { PX4_INFO("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u", wpr.seq, msg->sysid); }
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_transfer_seq++;
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} else if (wpr.seq == _transfer_seq - 1) {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u (again)", wpr.seq, msg->sysid); }
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if (_verbose) { PX4_INFO("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u (again)", wpr.seq, msg->sysid); }
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} else {
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if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
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} else if (_transfer_seq <= 0) {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
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} else {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
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}
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_state = MAVLINK_WPM_STATE_IDLE;
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@@ -824,7 +829,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
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send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
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} else {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)current_item_count() - 1); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)current_item_count() - 1); }
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_state = MAVLINK_WPM_STATE_IDLE;
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@@ -833,13 +838,13 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
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}
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} else if (_state == MAVLINK_WPM_STATE_IDLE) {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer"); }
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// Silently ignore this as some OSDs have buggy mission protocol implementations
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//_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer");
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} else {
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state); }
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_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
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}
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@@ -847,7 +852,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
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} else {
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_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
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if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch"); }
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}
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}
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}
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@@ -872,7 +877,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
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_mission_type = (MAV_MISSION_TYPE)wpc.mission_type;
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if (wpc.count > current_max_item_count()) {
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if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); }
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if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); }
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send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
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_transfer_in_progress = false;
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@@ -880,7 +885,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
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}
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if (wpc.count == 0) {
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if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
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if (_verbose) { PX4_INFO("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
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switch (_mission_type) {
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case MAV_MISSION_TYPE_MISSION:
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@@ -906,7 +911,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
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return;
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}
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if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
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if (_verbose) { PX4_INFO("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
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_state = MAVLINK_WPM_STATE_GETLIST;
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_transfer_seq = 0;
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@@ -921,17 +926,17 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
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if (_transfer_seq == 0) {
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/* looks like our MISSION_REQUEST was lost, try again */
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if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
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if (_verbose) { PX4_INFO("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
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} else {
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if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
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_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
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return;
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}
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} else {
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if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
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if (_verbose) { PX4_ERR("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
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_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
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return;
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@@ -985,20 +990,20 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
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_time_last_recv = hrt_absolute_time();
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if (wp.seq != _transfer_seq) {
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if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
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/* don't send request here, it will be performed in eventloop after timeout */
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return;
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}
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} else if (_state == MAVLINK_WPM_STATE_IDLE) {
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if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: no transfer"); }
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_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
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return;
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} else {
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if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
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_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
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return;
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@@ -1009,7 +1014,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
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int ret = parse_mavlink_mission_item(&wp, &mission_item);
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if (ret != PX4_OK) {
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if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
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if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
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_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
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@@ -1076,7 +1081,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
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}
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if (write_failed || check_failed) {
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if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
|
||||
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
|
||||
|
||||
@@ -1094,13 +1099,13 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
||||
_transfer_current_seq = wp.seq;
|
||||
}
|
||||
|
||||
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM seq %u received", wp.seq); }
|
||||
|
||||
_transfer_seq = wp.seq + 1;
|
||||
|
||||
if (_transfer_seq == _transfer_count) {
|
||||
/* got all new mission items successfully */
|
||||
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
|
||||
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
|
||||
|
||||
_state = MAVLINK_WPM_STATE_IDLE;
|
||||
|
||||
@@ -1181,7 +1186,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
|
||||
}
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
|
||||
if (_verbose) { PX4_INFO("WPM: CLEAR_ALL OK"); }
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
|
||||
|
||||
@@ -1192,7 +1197,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
|
||||
} else {
|
||||
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
|
||||
|
||||
if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
|
||||
if (_verbose) { PX4_ERR("WPM: CLEAR_ALL IGNORED: busy"); }
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1537,7 +1542,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
|
||||
void MavlinkMissionManager::check_active_mission()
|
||||
{
|
||||
if (!(_my_dataman_id == _dataman_id)) {
|
||||
if (_verbose) { warnx("WPM: New mission detected (possibly over different Mavlink instance) Updating"); }
|
||||
if (_verbose) { PX4_INFO("WPM: New mission detected (possibly over different Mavlink instance) Updating"); }
|
||||
|
||||
_my_dataman_id = _dataman_id;
|
||||
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[(uint8_t)MAV_MISSION_TYPE_MISSION],
|
||||
|
||||
Reference in New Issue
Block a user