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More print cleanups in commander app

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Lorenz Meier
2013-01-11 08:24:28 +01:00
parent 9608dfefa3
commit 31ca806958
1 changed files with 23 additions and 23 deletions
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apps/commander/state_machine_helper.c
+23 -23
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@@ -93,8 +93,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */
current_status->flag_system_armed = true;
fprintf(stderr, "[cmd] EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY LANDING!");
warnx("EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
break;
case SYSTEM_STATE_EMCY_CUTOFF:
@@ -103,8 +103,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */
current_status->flag_system_armed = false;
fprintf(stderr, "[cmd] EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY MOTOR CUTOFF!");
warnx("EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
break;
case SYSTEM_STATE_GROUND_ERROR:
@@ -114,8 +114,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* prevent actuators from arming */
current_status->flag_system_armed = false;
fprintf(stderr, "[cmd] GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "[cmd] GROUND ERROR, locking down propulsion system");
warnx("GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
break;
case SYSTEM_STATE_PREFLIGHT:
@@ -123,11 +123,11 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to PREFLIGHT state");
mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to switch to PREFLIGHT state");
mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
}
break;
@@ -138,14 +138,14 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
invalid_state = false;
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] REBOOTING SYSTEM");
mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
usleep(500000);
up_systemreset();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to REBOOT");
mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
}
break;
@@ -156,7 +156,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* standby enforces disarmed */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to STANDBY state");
mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
break;
case SYSTEM_STATE_GROUND_READY:
@@ -166,7 +166,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* ground ready has motors / actuators armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to GROUND READY state");
mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
break;
case SYSTEM_STATE_AUTO:
@@ -176,7 +176,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* auto is airborne and in auto mode, motors armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / AUTO mode");
mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
break;
case SYSTEM_STATE_STABILIZED:
@@ -184,7 +184,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / STABILIZED mode");
mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
break;
case SYSTEM_STATE_MANUAL:
@@ -192,7 +192,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / MANUAL mode");
mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
break;
default:
@@ -208,7 +208,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
}
if (invalid_state) {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING invalid state transition");
mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
ret = ERROR;
}
@@ -260,7 +260,7 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
fprintf(stderr, "[cmd] EMERGENCY HANDLER\n");
warnx("EMERGENCY HANDLER\n");
/* Depending on the current state go to one of the error states */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
@@ -272,7 +272,7 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
} else {
fprintf(stderr, "[cmd] Unknown system state: #%d\n", current_status->state_machine);
warnx("Unknown system state: #%d\n", current_status->state_machine);
}
}
@@ -639,11 +639,11 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
current_status->flag_system_armed) {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, disarm first!")
mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, not in standby.")
mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
}
}
@@ -684,8 +684,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
/* NEVER actually switch off HIL without reboot */
if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[cmd] DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
mavlink_log_critical(mavlink_fd, "[cmd] Power-cycle to exit HIL");
warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
ret = ERROR;
}
@@ -710,7 +710,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
printf("system will reboot\n");
mavlink_log_critical(mavlink_fd, "[cmd] Rebooting..");
mavlink_log_critical(mavlink_fd, "Rebooting..");
usleep(200000);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0;