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[telemetry] add error report

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This commit is contained in:
Gautier Hattenberger
2013-09-25 13:34:21 +02:00
parent 3e92315488
commit cce8b99e4b
4 changed files with 36 additions and 3 deletions
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conf/messages.xml
+6 -1
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@@ -1898,7 +1898,12 @@
<!--223 is free -->
<!--224 is free -->
<!--225 is free -->
<!--226 is free -->
<message name="PERIODIC_TELEMETRY_ERR" id="226">
<field name="process" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="id" type="uint8"/>
</message>
<message name="TIME" id="227">
<field name="t" type="uint32"/>
sw/airborne/subsystems/datalink/telemetry.c
+17
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@@ -52,3 +52,20 @@ bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, tel
return FALSE;
}
#if USE_PERIODIC_TELEMETRY_REPORT
#include "subsystems/datalink/downlink.h"
/** Send an error report when trying to send message that as not been register
* @param _process telemetry process id
* @param _mode telemetry mode
* @param _id id of the message in telemetry system (see var/<AC>/generated/periodic_telemetry.h)
*/
void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id) {
uint8_t process = _process;
uint8_t mode = _mode;
uint8_t id = _id;
DOWNLINK_SEND_PERIODIC_TELEMETRY_ERR(DefaultChannel, DefaultDevice, &process, &mode, &id);
}
#endif
sw/airborne/subsystems/datalink/telemetry_common.h
+9 -1
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@@ -58,8 +58,16 @@ struct pprz_telemetry {
* @param _cb callback function, called according to telemetry mode and specified period
* @return TRUE if message registered with success, FALSE otherwise
*/
bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, telemetry_cb _cb);
extern bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, telemetry_cb _cb);
#if USE_PERIODIC_TELEMETRY_REPORT
/** Send an error report when trying to send message that as not been register
* @param _process telemetry process id
* @param _mode telemetry mode
* @param _id id of the message in telemetry system (see var/<AC>/generated/periodic_telemetry.h)
*/
extern void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id);
#endif
#endif /* TELEMETRY_COMMON_H */
sw/tools/gen_periodic.ml
+4 -1
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@@ -87,7 +87,7 @@ let output_modes = fun out_h process_name modes freq modules ->
lprintf out_h "telemetry_%s.msgs[TELEMETRY_%s_MSG_%s_ID].cb();\n" process_name (String.uppercase process_name) message_name;
left ();
fprintf out_h "#if USE_PERIODIC_TELEMETRY_REPORT\n";
lprintf out_h "else peridodic_telemetry_err_report(TELEMETRY_%s_MSG_%s_ID);\n" (String.uppercase process_name) message_name;
lprintf out_h "else periodic_telemetry_err_report(TELEMETRY_PROCESS_%s, telemetry_mode_%s, TELEMETRY_%s_MSG_%s_ID);\n" process_name process_name (String.uppercase process_name) message_name;
fprintf out_h "#endif\n";
left ();
lprintf out_h "}\n"
@@ -160,6 +160,9 @@ let _ =
let messages = Hashtbl.create 5 in
fprintf out_h "\n/* Periodic telemetry: %s process */\n" process_name;
let p_id = ref 0 in
Xml2h.define (sprintf "TELEMETRY_PROCESS_%s" process_name) (string_of_int !p_id);
incr p_id;
let i = ref 0 in
(** For each mode of this process *)