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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-08 09:58:08 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-08 09:58:08 +0200 |
commit | 9f1661f1f8808b7c83f73284cee9a1e9279165d3 (patch) | |
tree | a3cd505a7f47324706acdcfb00048f651dd9f209 | |
parent | 0d0c4c36265b044ba978cfe4dbe369e93aa25d44 (diff) | |
download | px4-firmware-9f1661f1f8808b7c83f73284cee9a1e9279165d3.tar.gz px4-firmware-9f1661f1f8808b7c83f73284cee9a1e9279165d3.tar.bz2 px4-firmware-9f1661f1f8808b7c83f73284cee9a1e9279165d3.zip |
Silence FTP transactions, be vocal about errors
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.cpp | 19 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.h | 27 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
3 files changed, 25 insertions, 23 deletions
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 57ae6076c..675a6870e 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -117,10 +117,10 @@ MavlinkFTP::_worker(Request *req) if (crc32(req->rawData(), req->dataSize()) != messageCRC) { errorCode = kErrNoRequest; goto out; - printf("ftp: bad crc\n"); + warnx("ftp: bad crc"); } - printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset); + //printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset); switch (hdr->opcode) { case kCmdNone: @@ -167,9 +167,9 @@ out: // handle success vs. error if (errorCode == kErrNone) { hdr->opcode = kRspAck; - printf("FTP: ack\n"); + //warnx("FTP: ack\n"); } else { - printf("FTP: nak %u\n", errorCode); + warnx("FTP: nak %u", errorCode); hdr->opcode = kRspNak; hdr->size = 1; hdr->data[0] = errorCode; @@ -206,11 +206,11 @@ MavlinkFTP::_workList(Request *req) DIR *dp = opendir(dirPath); if (dp == nullptr) { - printf("FTP: can't open path '%s'\n", dirPath); + warnx("FTP: can't open path '%s'", dirPath); return kErrNotDir; } - printf("FTP: list %s offset %d\n", dirPath, hdr->offset); + //warnx("FTP: list %s offset %d", dirPath, hdr->offset); ErrorCode errorCode = kErrNone; struct dirent entry, *result = nullptr; @@ -222,7 +222,7 @@ MavlinkFTP::_workList(Request *req) for (;;) { // read the directory entry if (readdir_r(dp, &entry, &result)) { - printf("FTP: list %s readdir_r failure\n", dirPath); + warnx("FTP: list %s readdir_r failure\n", dirPath); errorCode = kErrIO; break; } @@ -304,19 +304,20 @@ MavlinkFTP::_workRead(Request *req) } // Seek to the specified position - printf("Seek %d\n", hdr->offset); + //warnx("seek %d", hdr->offset); if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) { // Unable to see to the specified location + warnx("seek fail"); return kErrEOF; } int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength); if (bytes_read < 0) { // Negative return indicates error other than eof + warnx("read fail %d", bytes_read); return kErrIO; } - printf("Read success %d\n", bytes_read); hdr->size = bytes_read; return kErrNone; diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index e22e61553..59237a4c4 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -147,20 +147,21 @@ private: unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(), _mavlink->get_channel(), &msg, sequence(), rawData()); - _mavlink->lockMessageBufferMutex(); - bool fError = _mavlink->message_buffer_write(&msg, len); - _mavlink->unlockMessageBufferMutex(); - - if (!fError) { + _mavlink->lockMessageBufferMutex(); + bool success = _mavlink->message_buffer_write(&msg, len); + _mavlink->unlockMessageBufferMutex(); + + if (!success) { warnx("FTP TX ERR"); - } else { - warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d", - _mavlink->get_system_id(), - _mavlink->get_component_id(), - _mavlink->get_channel(), - len, - msg.checksum); - } + } + // else { + // warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d", + // _mavlink->get_system_id(), + // _mavlink->get_component_id(), + // _mavlink->get_channel(), + // len, + // msg.checksum); + // } } uint8_t *rawData() { return &_message.data[0]; } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 81966caf8..484886682 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -442,7 +442,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; - warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", manual.x, manual.y, manual.r, manual.z); + warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z); if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); |