AP_DroneCAN: drop CAN log message calls

The infrastructure for these has been continually buggy and rarely used.

Delete calls in preparation for ripping it out entirely.

libraries/AP_DroneCAN/AP_Canard_iface.cpp

@@ -7,7 +7,6 @@
 #include <AP_Math/AP_Math.h>
 #include <dronecan_msgs.h>
 extern const AP_HAL::HAL& hal;
-#define LOG_TAG "DroneCANIface"
 #include <canard.h>
 #include <AP_CANManager/AP_CANSensor.h>
 
@@ -419,27 +418,21 @@ void CanardInterface::process(uint32_t duration_ms) {
 bool CanardInterface::add_interface(AP_HAL::CANIface *can_iface)
 {
     if (num_ifaces > HAL_NUM_CAN_IFACES) {
-        AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Num Ifaces Exceeded\n");
         return false;
     }
     if (can_iface == nullptr) {
-        AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Iface Null\n");
         return false;
     }
     if (ifaces[num_ifaces] != nullptr) {
-        AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Iface already added\n");
         return false;
     }
     ifaces[num_ifaces] = can_iface;
     if (ifaces[num_ifaces] == nullptr) {
-        AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Can't alloc uavcan::iface\n");
         return false;
     }
     if (!can_iface->set_event_handle(&sem_handle)) {
-        AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Setting event handle failed\n");
         return false;
     }
-    AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "DroneCANIfaceMgr: Successfully added interface %d\n", int(num_ifaces));
     num_ifaces++;
     return true;
 }

libraries/AP_DroneCAN/AP_DroneCAN.cpp

@@ -87,8 +87,6 @@ extern const AP_HAL::HAL& hal;
 
 #define AP_DRONECAN_GETSET_TIMEOUT_MS 100       // timeout waiting for response from node after 0.1 sec
 
-#define debug_dronecan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "DroneCAN", fmt, ##args); } while (0)
-
 // Translation of all messages from DroneCAN structures into AP structures is done
 // in AP_DroneCAN and not in corresponding drivers.
 // The overhead of including definitions of DSDL is very high and it is best to
@@ -291,8 +289,6 @@ _dna_server(*this, canard_iface, driver_index)
         _SRV_conf[i].esc_pending = false;
         _SRV_conf[i].servo_pending = false;
     }
-
-    debug_dronecan(AP_CANManager::LOG_INFO, "AP_DroneCAN constructed\n\r");
 }
 
 AP_DroneCAN::~AP_DroneCAN()
@@ -311,7 +307,6 @@ AP_DroneCAN *AP_DroneCAN::get_dronecan(uint8_t driver_index)
 bool AP_DroneCAN::add_interface(AP_HAL::CANIface* can_iface)
 {
     if (!canard_iface.add_interface(can_iface)) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: can't add DroneCAN interface\n\r");
         return false;   
     }
     return true;
@@ -320,11 +315,9 @@ bool AP_DroneCAN::add_interface(AP_HAL::CANIface* can_iface)
 void AP_DroneCAN::init(uint8_t driver_index)
 {
     if (driver_index != _driver_index) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: init called with wrong driver_index");
         return;
     }
     if (_initialized) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: init called more than once\n\r");
         return;
     }
     uint8_t node = _dronecan_node;
@@ -351,7 +344,6 @@ void AP_DroneCAN::init(uint8_t driver_index)
 
     mem_pool = NEW_NOTHROW uint32_t[_pool_size/sizeof(uint32_t)];
     if (mem_pool == nullptr) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r");
         return;
     }
     canard_iface.init(mem_pool, (_pool_size/sizeof(uint32_t))*sizeof(uint32_t), node);
@@ -364,7 +356,6 @@ void AP_DroneCAN::init(uint8_t driver_index)
 
     //Start Servers
     if (!_dna_server.init(unique_id, uid_len, node)) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to start DNA Server\n\r");
         return;
     }
 
@@ -507,7 +498,6 @@ void AP_DroneCAN::init(uint8_t driver_index)
     hal.util->snprintf(_thread_name, sizeof(_thread_name), "dronecan_%u", driver_index);
 
     if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_DroneCAN::loop, void), _thread_name, DRONECAN_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_CAN, 0)) {
-        debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: couldn't create thread\n\r");
         return;
     }
 
@@ -516,7 +506,6 @@ void AP_DroneCAN::init(uint8_t driver_index)
 #endif
 
     _initialized = true;
-    debug_dronecan(AP_CANManager::LOG_INFO, "DroneCAN: init done\n\r");
 }
 
 void AP_DroneCAN::loop(void)

libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp

@@ -39,8 +39,6 @@ extern const AP_HAL::HAL& hal;
 #define MAX_NODE_ID    125
 #define NODERECORD_LOC(node_id) ((node_id * sizeof(NodeRecord)) + NODERECORD_MAGIC_LEN)
 
-#define debug_dronecan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "DroneCAN", fmt, ##args); } while (0)
-
 // database is currently shared by all DNA servers
 AP_DroneCAN_DNA_Server::Database AP_DroneCAN_DNA_Server::db;
 
@@ -526,16 +524,6 @@ void AP_DroneCAN_DNA_Server::handle_allocation(const CanardRxTransfer& transfer,
         return; // not first part but we are expecting one, ignore
     }
 
-    if (rcvd_unique_id_offset) {
-        debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu  -- Accepting Followup part! %u\n",
-                     (unsigned long)now,
-                     unsigned((now - last_alloc_msg_ms)));
-    } else {
-        debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu  -- Accepting First part! %u\n",
-                     (unsigned long)now,
-                     unsigned((now - last_alloc_msg_ms)));
-    }
-
     last_alloc_msg_ms = now;
     if ((rcvd_unique_id_offset + msg.unique_id.len) > sizeof(rcvd_unique_id)) {
         rcvd_unique_id_offset = 0; // reset state, request contains an over-long ID