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logger: change SDLOG_PROFILE into a bitset

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This is more flexible, allowing a combination of sets.

The default enables the same set & rates as before
This commit is contained in:
Beat Küng
2017-10-14 10:08:50 +02:00
committed by Lorenz Meier
parent be6079bc52
commit 98e6ba858d
3 changed files with 54 additions and 34 deletions
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38
src/modules/logger/logger.cpp
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@@ -531,7 +531,7 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
return updated;
}
void Logger::add_common_topics()
void Logger::add_default_topics()
{
#ifdef CONFIG_ARCH_BOARD_SITL
add_topic("vehicle_attitude_groundtruth", 10);
@@ -740,36 +740,40 @@ void Logger::run()
} else {
// get the logging profile
SDLogProfile sdlog_profile = SDLogProfile::DEFAULT;
SDLogProfileMask sdlog_profile = SDLogProfileMask::DEFAULT;
if (_sdlog_profile_handle != PARAM_INVALID) {
param_get(_sdlog_profile_handle, &sdlog_profile);
}
if ((int32_t)sdlog_profile == 0) {
PX4_WARN("No logging profile selected. Using default set");
sdlog_profile = SDLogProfileMask::DEFAULT;
}
// load appropriate topics for profile
if (sdlog_profile == SDLogProfile::DEFAULT) {
add_common_topics();
add_estimator_replay_topics();
// the order matters: if several profiles add the same topic, the logging rate of the last one will be used
if (sdlog_profile & SDLogProfileMask::DEFAULT) {
add_default_topics();
}
} else if (sdlog_profile == SDLogProfile::THERMAL_CALIBRATION) {
if (sdlog_profile & SDLogProfileMask::ESTIMATOR_REPLAY) {
add_estimator_replay_topics();
}
if (sdlog_profile & SDLogProfileMask::THERMAL_CALIBRATION) {
add_thermal_calibration_topics();
}
} else if (sdlog_profile == SDLogProfile::SYSTEM_IDENTIFICATION) {
add_common_topics();
if (sdlog_profile & SDLogProfileMask::SYSTEM_IDENTIFICATION) {
add_system_identification_topics();
}
} else if (sdlog_profile == SDLogProfile::HIGH_RATE) {
add_common_topics();
add_estimator_replay_topics();
if (sdlog_profile & SDLogProfileMask::HIGH_RATE) {
add_high_rate_topics();
}
} else if (sdlog_profile == SDLogProfile::DEBUG_TOPICS) {
add_common_topics();
if (sdlog_profile & SDLogProfileMask::DEBUG_TOPICS) {
add_debug_topics();
} else {
add_common_topics();
add_estimator_replay_topics();
}
}