diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp index b434d12366e..9edfa59ef06 100644 --- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp +++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp @@ -7,7 +7,6 @@ #include #include extern const AP_HAL::HAL& hal; -#define LOG_TAG "DroneCANIface" #include #include @@ -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; } diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp index 46065d2118f..54dea04d50e 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp +++ b/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) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp index ada7cd5a592..231d987e1a0 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp +++ b/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