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landdetector: use PX4_WARN and remove printf statements

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This commit is contained in:
Siddharth Bharat Purohit
2016-03-11 14:47:39 -08:00
committed by Julian Oes
parent f006840f2a
commit 91a32ff7fb
1 changed files with 13 additions and 18 deletions
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src/modules/land_detector/land_detector_main.cpp
+13 -18
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@@ -76,7 +76,7 @@ static char _currentMode[12];
static void land_detector_stop()
{
if (land_detector_task == nullptr) {
warnx("not running");
PX4_WARN("not running");
return;
}
@@ -94,7 +94,7 @@ static void land_detector_stop()
delete land_detector_task;
land_detector_task = nullptr;
warnx("land_detector has been stopped");
PX4_WARN("land_detector has been stopped");
}
/**
@@ -103,7 +103,7 @@ static void land_detector_stop()
static int land_detector_start(const char *mode)
{
if (land_detector_task != nullptr) {
warnx("already running");
PX4_WARN("already running");
return -1;
}
@@ -118,13 +118,13 @@ static int land_detector_start(const char *mode)
land_detector_task = new VtolLandDetector();
} else {
warnx("[mode] must be either 'fixedwing' or 'multicopter'");
PX4_WARN("[mode] must be either 'fixedwing' or 'multicopter'");
return -1;
}
//Check if alloc worked
if (land_detector_task == nullptr) {
warnx("alloc failed");
PX4_WARN("alloc failed");
return -1;
}
@@ -132,7 +132,7 @@ static int land_detector_start(const char *mode)
int ret = land_detector_task->start();
if (ret) {
warnx("task start failed: %d", -errno);
PX4_WARN("task start failed: %d", -errno);
return -1;
}
@@ -145,19 +145,14 @@ static int land_detector_start(const char *mode)
/* check if the waiting involving dots and a newline are still needed */
if (!land_detector_task->isRunning()) {
while (!land_detector_task->isRunning()) {
printf(".");
fflush(stdout);
usleep(50000);
if (hrt_absolute_time() > timeout) {
warnx("start failed - timeout");
PX4_WARN("start failed - timeout");
land_detector_stop();
return 1;
}
}
printf("\n");
}
//Remember current active mode
@@ -178,7 +173,7 @@ int land_detector_main(int argc, char *argv[])
if (argc >= 2 && !strcmp(argv[1], "start")) {
if (land_detector_start(argv[2]) != 0) {
warnx("land_detector start failed");
PX4_WARN("land_detector start failed");
return 1;
}
@@ -194,22 +189,22 @@ int land_detector_main(int argc, char *argv[])
if (land_detector_task) {
if (land_detector_task->isRunning()) {
warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
PX4_WARN("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
} else {
warnx("exists, but not running (%s)", _currentMode);
PX4_WARN("exists, but not running (%s)", _currentMode);
}
return 0;
} else {
warnx("not running");
PX4_WARN("not running");
return 1;
}
}
exiterr:
warnx("usage: land_detector {start|stop|status} [mode]");
warnx("mode can either be 'fixedwing' or 'multicopter'");
PX4_WARN("usage: land_detector {start|stop|status} [mode]");
PX4_WARN("mode can either be 'fixedwing' or 'multicopter'");
return 1;
}