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logger: add_topic_multi optional specify max multi-instance (#15647)

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This commit is contained in:
Daniel Agar
2020-09-01 03:36:32 -04:00
committed by GitHub
parent cbf21959ab
commit 978e35478f
2 changed files with 30 additions and 21 deletions
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src/modules/logger/logged_topics.cpp
+20 -20
View File
@@ -106,9 +106,9 @@ void LoggedTopics::add_default_topics()
add_topic("yaw_estimator_status", 200);
// multi topics
add_topic_multi("actuator_outputs", 100);
add_topic_multi("logger_status");
add_topic_multi("multirotor_motor_limits", 1000);
add_topic_multi("actuator_outputs", 100, 2);
add_topic_multi("logger_status", 0, 2);
add_topic_multi("multirotor_motor_limits", 1000, 2);
add_topic_multi("telemetry_status", 1000);
add_topic_multi("wind_estimate", 1000);
@@ -117,13 +117,13 @@ void LoggedTopics::add_default_topics()
add_topic_multi("differential_pressure", 1000);
add_topic_multi("distance_sensor", 1000);
add_topic_multi("optical_flow", 1000);
add_topic_multi("sensor_accel", 1000);
add_topic_multi("sensor_baro", 1000);
add_topic_multi("sensor_gyro", 1000);
add_topic_multi("sensor_mag", 1000);
add_topic_multi("vehicle_gps_position", 1000);
add_topic_multi("vehicle_imu", 500);
add_topic_multi("vehicle_imu_status", 1000);
add_topic_multi("sensor_accel", 1000, 3);
add_topic_multi("sensor_baro", 1000, 3);
add_topic_multi("sensor_gyro", 1000, 3);
add_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("vehicle_gps_position", 1000, 2);
add_topic_multi("vehicle_imu", 500, 3);
add_topic_multi("vehicle_imu_status", 1000, 3);
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw");
@@ -180,22 +180,22 @@ void LoggedTopics::add_estimator_replay_topics()
add_topic("vehicle_visual_odometry");
add_topic("vehicle_visual_odometry_aligned");
add_topic_multi("distance_sensor");
add_topic_multi("vehicle_gps_position");
add_topic_multi("vehicle_gps_position", 0, 2);
}
void LoggedTopics::add_thermal_calibration_topics()
{
add_topic_multi("sensor_accel", 100);
add_topic_multi("sensor_baro", 100);
add_topic_multi("sensor_gyro", 100);
add_topic_multi("sensor_accel", 100, 3);
add_topic_multi("sensor_baro", 100, 3);
add_topic_multi("sensor_gyro", 100, 3);
}
void LoggedTopics::add_sensor_comparison_topics()
{
add_topic_multi("sensor_accel", 100);
add_topic_multi("sensor_baro", 100);
add_topic_multi("sensor_gyro", 100);
add_topic_multi("sensor_mag", 100);
add_topic_multi("sensor_accel", 100, 3);
add_topic_multi("sensor_baro", 100, 3);
add_topic_multi("sensor_gyro", 100, 3);
add_topic_multi("sensor_mag", 100, 4);
}
void LoggedTopics::add_vision_and_avoidance_topics()
@@ -358,10 +358,10 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
return success;
}
bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms)
bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances)
{
// add all possible instances
for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
for (uint8_t instance = 0; instance < max_num_instances; instance++) {
add_topic(name, interval_ms, instance);
}
src/modules/logger/logged_topics.h
+10 -1
View File
@@ -110,7 +110,16 @@ private:
* @return true on success
*/
bool add_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0);
bool add_topic_multi(const char *name, uint16_t interval_ms = 0);
/**
* Add a topic to be logged.
* @param name topic name
* @param interval limit in milliseconds if >0, otherwise log as fast as the topic is updated.
* @param instance orb topic instance
* @param max_num_instances the max multi-instance to add.
* @return true on success
*/
bool add_topic_multi(const char *name, uint16_t interval_ms = 0, uint8_t max_num_instances = ORB_MULTI_MAX_INSTANCES);
/**
* Parse a file containing a list of uORB topics to log, calling add_topic for each