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HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage

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- print list of events whenever they change if
  CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
This commit is contained in:
Beat Küng
2022-08-08 09:51:08 +02:00
committed by Daniel Agar
parent b2cb164c12
commit dbb814ff24
2 changed files with 37 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/Common.cpp
+25 -2
View File
@@ -73,6 +73,20 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
addEvent(event_id, log_levels, message, (uint32_t)reportedModes(required_modes), component.index);
}
Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels,
unsigned args_size)
{
unsigned total_size = sizeof(EventBufferHeader) + args_size;
EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + _next_buffer_idx);
memcpy(&header->id, &event_id, sizeof(event_id)); // header might be unaligned
header->log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
header->size = args_size;
_next_buffer_idx += total_size;
++_results[_current_result].num_events;
_results[_current_result].event_id_hash ^= event_id; // very simple hash
return header;
}
NavModes Report::reportedModes(NavModes required_modes)
{
// Make sure optional checks are still shown in the UI
@@ -216,8 +230,12 @@ bool Report::report(bool is_armed, bool force)
_last_report = now;
_already_reported = true;
_had_unreported_difference = false;
PX4_DEBUG("Sending Arming/Health report (num events: %i, can_arm: 0x%x)", _results[_current_result].num_events + 2,
(int)current_results.arming_checks.can_arm);
#ifdef CONSOLE_PRINT_ARMING_CHECK_EVENT
PX4_INFO_RAW("Sending Arming/Health Report (num events: %i, can_arm: 0x%x, can_run: 0x%x)\n",
_results[_current_result].num_events + 2,
(int)current_results.arming_checks.can_arm, (int)current_results.arming_checks.can_run);
#endif
// send arming summary
navigation_mode_group_t can_arm_and_run;
@@ -254,6 +272,11 @@ bool Report::report(bool is_armed, bool force)
memset(event.arguments + header->size, 0, sizeof(event.arguments) - header->size);
events::send(event);
offset += sizeof(EventBufferHeader) + header->size;
#ifdef CONSOLE_PRINT_ARMING_CHECK_EVENT
const char *message;
memcpy(&message, &header->message, sizeof(header->message));
PX4_INFO_RAW(" Event 0x%08" PRIx32 ": %s\n", event.id, message);
#endif
}
// send health summary
src/modules/commander/HealthAndArmingChecks/Common.hpp
+12 -15
View File
@@ -44,12 +44,7 @@
#include <stdint.h>
#include <limits.h>
#if 0 // for debugging, prints event messages to console each time arming & health checks run (not necessarily change)
#include <px4_platform_common/log.h>
#define CONSOLE_PRINT_ARMING_CHECK_EVENT(log_level, id, str) PX4_INFO_RAW("Health/Arming Event 0x%08x: %s\n", id, str)
#else
#define CONSOLE_PRINT_ARMING_CHECK_EVENT(log_level, id, str)
#endif
//#define CONSOLE_PRINT_ARMING_CHECK_EVENT // for debugging, print updated events whenever they change
#ifndef FRIEND_TEST // for gtest
#define FRIEND_TEST(a, b)
@@ -285,6 +280,9 @@ private:
uint8_t size; ///< arguments size
uint32_t id;
uint8_t log_levels;
#ifdef CONSOLE_PRINT_ARMING_CHECK_EVENT
const char *message;
#endif
};
void healthFailure(NavModes required_modes, HealthComponentIndex component, events::Log log_level);
@@ -292,6 +290,7 @@ private:
template<typename... Args>
bool addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, Args... args);
Report::EventBufferHeader *addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels, unsigned args_size);
NavModes reportedModes(NavModes required_modes);
@@ -360,8 +359,6 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
template<typename... Args>
bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, const char *message, Args... args)
{
CONSOLE_PRINT_ARMING_CHECK_EVENT(log_level, event_id, message);
constexpr unsigned args_size = events::util::sizeofArguments(args...);
static_assert(args_size <= sizeof(events::EventType::arguments), "Too many arguments");
unsigned total_size = sizeof(EventBufferHeader) + args_size;
@@ -371,14 +368,14 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co
return false;
}
EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + _next_buffer_idx);
memcpy(&header->id, &event_id, sizeof(event_id)); // header might be unaligned
header->log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
header->size = args_size;
events::util::fillEventArguments(_event_buffer + _next_buffer_idx + sizeof(EventBufferHeader), args...);
_next_buffer_idx += total_size;
++_results[_current_result].num_events;
_results[_current_result].event_id_hash ^= event_id; // very simple hash
// We split out the part of the code not requiring templating to reduce flash usage a bit
EventBufferHeader *header = addEventToBuffer(event_id, log_levels, args_size);
#ifdef CONSOLE_PRINT_ARMING_CHECK_EVENT
memcpy(&header->message, &message, sizeof(message));
#else
(void)header;
#endif
return true;
}