From 1336d625a83ba3f1afc207b64ec248dd1e15848a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Oct 2013 14:47:37 +0100 Subject: Hotfix: Announcing important messages via audio --- src/modules/commander/commander.cpp | 58 ++++++++++++++++++------------------- 1 file changed, 29 insertions(+), 29 deletions(-) (limited to 'src') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9814a7bcc..44a144296 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -379,7 +379,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } // TODO remove debug code - //mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); + //mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode); /* set arming state */ arming_res = TRANSITION_NOT_CHANGED; @@ -496,11 +496,11 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); + mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd"); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); + mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } @@ -521,13 +521,13 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe tune_negative(); if (result == VEHICLE_CMD_RESULT_DENIED) { - mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command); } else if (result == VEHICLE_CMD_RESULT_FAILED) { - mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command); } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { - mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command); } } @@ -874,10 +874,10 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; if (status.condition_landed) { - mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); + mavlink_log_critical(mavlink_fd, "#audio: LANDED"); } else { - mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); + mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } } @@ -955,7 +955,7 @@ int commander_thread_main(int argc, char *argv[]) //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] WARNING: LOW BATTERY"); + mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; status_changed = true; battery_tune_played = false; @@ -967,7 +967,7 @@ int commander_thread_main(int argc, char *argv[]) /* critical battery voltage, this is rather an emergency, change state machine */ if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); + mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; battery_tune_played = false; @@ -1069,12 +1069,12 @@ int commander_thread_main(int argc, char *argv[]) /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "[cmd] detected RC signal first time"); + mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time"); status_changed = true; } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "[cmd] RC signal regained"); + mavlink_log_critical(mavlink_fd, "#audio: RC signal regained"); status_changed = true; } } @@ -1143,7 +1143,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (res == TRANSITION_DENIED) { warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); } /* fill current_status according to mode switches */ @@ -1159,12 +1159,12 @@ int commander_thread_main(int argc, char *argv[]) } else if (res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); } } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: RC SIGNAL LOST"); + mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); status.rc_signal_lost = true; status_changed = true; } @@ -1189,7 +1189,7 @@ int commander_thread_main(int argc, char *argv[]) if (res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); } /* check which state machines for changes, clear "changed" flag */ @@ -1506,7 +1506,7 @@ print_reject_mode(const char *msg) if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "[cmd] WARNING: reject %s", msg); + sprintf(s, "#audio: warning: reject %s", msg); mavlink_log_critical(mavlink_fd, s); tune_negative(); } @@ -1520,7 +1520,7 @@ print_reject_arm(const char *msg) if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "[cmd] %s", msg); + sprintf(s, "#audio: %s", msg); mavlink_log_critical(mavlink_fd, s); tune_negative(); } @@ -1617,14 +1617,14 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c if (res == TRANSITION_CHANGED) { if (control_mode->flag_control_position_enabled) { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: POS HOLD"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD"); } else { if (status->condition_landed) { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD (LAND)"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)"); } else { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD"); } } } @@ -1660,22 +1660,22 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul break; case VEHICLE_CMD_RESULT_DENIED: - mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_FAILED: - mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: - mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_UNSUPPORTED: - mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command); tune_negative(); break; @@ -1814,14 +1814,14 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); } else { - mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); + mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) ret = -ret; if (ret < 1000) - mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); + mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1834,14 +1834,14 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); } else { - mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); + mavlink_log_critical(mavlink_fd, "#audio: parameters save error"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) ret = -ret; if (ret < 1000) - mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); + mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } -- cgit v1.2.3