From 31ca8069584dbc1fac5de788495e67e2f4d65f14 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 11 Jan 2013 08:24:28 +0100 Subject: More print cleanups in commander app --- apps/commander/state_machine_helper.c | 46 +++++++++++++++++------------------ 1 file changed, 23 insertions(+), 23 deletions(-) (limited to 'apps/commander/state_machine_helper.c') diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index 4c4089f06..d4e88b146 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -93,8 +93,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* set system flags according to state */ current_status->flag_system_armed = true; - fprintf(stderr, "[cmd] EMERGENCY LANDING!\n"); - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY LANDING!"); + warnx("EMERGENCY LANDING!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); break; case SYSTEM_STATE_EMCY_CUTOFF: @@ -103,8 +103,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* set system flags according to state */ current_status->flag_system_armed = false; - fprintf(stderr, "[cmd] EMERGENCY MOTOR CUTOFF!\n"); - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY MOTOR CUTOFF!"); + warnx("EMERGENCY MOTOR CUTOFF!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); break; case SYSTEM_STATE_GROUND_ERROR: @@ -114,8 +114,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* prevent actuators from arming */ current_status->flag_system_armed = false; - fprintf(stderr, "[cmd] GROUND ERROR, locking down propulsion system\n"); - mavlink_log_critical(mavlink_fd, "[cmd] GROUND ERROR, locking down propulsion system"); + warnx("GROUND ERROR, locking down propulsion system\n"); + mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); break; case SYSTEM_STATE_PREFLIGHT: @@ -123,11 +123,11 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { /* set system flags according to state */ current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to PREFLIGHT state"); + mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); } else { invalid_state = true; - mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to switch to PREFLIGHT state"); + mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); } break; @@ -138,14 +138,14 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con invalid_state = false; /* set system flags according to state */ current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "[cmd] REBOOTING SYSTEM"); + mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); usleep(500000); up_systemreset(); /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ } else { invalid_state = true; - mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to REBOOT"); + mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); } break; @@ -156,7 +156,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* standby enforces disarmed */ current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to STANDBY state"); + mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); break; case SYSTEM_STATE_GROUND_READY: @@ -166,7 +166,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* ground ready has motors / actuators armed */ current_status->flag_system_armed = true; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to GROUND READY state"); + mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); break; case SYSTEM_STATE_AUTO: @@ -176,7 +176,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* auto is airborne and in auto mode, motors armed */ current_status->flag_system_armed = true; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / AUTO mode"); + mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); break; case SYSTEM_STATE_STABILIZED: @@ -184,7 +184,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* set system flags according to state */ current_status->flag_system_armed = true; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / STABILIZED mode"); + mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); break; case SYSTEM_STATE_MANUAL: @@ -192,7 +192,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con /* set system flags according to state */ current_status->flag_system_armed = true; - mavlink_log_critical(mavlink_fd, "[cmd] Switched to FLYING / MANUAL mode"); + mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); break; default: @@ -208,7 +208,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con } if (invalid_state) { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING invalid state transition"); + mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); ret = ERROR; } @@ -260,7 +260,7 @@ void publish_armed_status(const struct vehicle_status_s *current_status) */ void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { - fprintf(stderr, "[cmd] EMERGENCY HANDLER\n"); + warnx("EMERGENCY HANDLER\n"); /* Depending on the current state go to one of the error states */ if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { @@ -272,7 +272,7 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); } else { - fprintf(stderr, "[cmd] Unknown system state: #%d\n", current_status->state_machine); + warnx("Unknown system state: #%d\n", current_status->state_machine); } } @@ -639,11 +639,11 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_ } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && current_status->flag_system_armed) { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, disarm first!") + mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") } else { - mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, not in standby.") + mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") } } @@ -684,8 +684,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_ /* NEVER actually switch off HIL without reboot */ if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { - fprintf(stderr, "[cmd] DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); - mavlink_log_critical(mavlink_fd, "[cmd] Power-cycle to exit HIL"); + warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); + mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); ret = ERROR; } @@ -710,7 +710,7 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_ if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) { printf("system will reboot\n"); - mavlink_log_critical(mavlink_fd, "[cmd] Rebooting.."); + mavlink_log_critical(mavlink_fd, "Rebooting.."); usleep(200000); do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); ret = 0; -- cgit v1.2.3