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AP_Mount: Xacti uses GCS_SEND_TEXT
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@rmackay9
rmackay9 committed Nov 7, 2023
1 parent 2cb07d6 commit 53ebad6
Showing 1 changed file with 24 additions and 24 deletions.
48 changes: 24 additions & 24 deletions libraries/AP_Mount/AP_Mount_Xacti.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ void AP_Mount_Xacti::init()
// instantiate parameter queue, return on failure so init fails
_set_param_int32_queue = new ObjectArray<SetParamQueueItem>(XACTI_SET_PARAM_QUEUE_SIZE);
if (_set_param_int32_queue == nullptr) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s init failed", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s init failed", send_text_prefix);
return;
}
_initialised = true;
Expand Down Expand Up @@ -200,7 +200,7 @@ bool AP_Mount_Xacti::take_picture()
{
// fail if camera errored
if (_camera_error) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s unable to take pic", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s unable to take pic", send_text_prefix);
return false;
}

Expand Down Expand Up @@ -292,7 +292,7 @@ void AP_Mount_Xacti::subscribe_msgs(AP_UAVCAN* ap_dronecan)
{
// return immediately if DroneCAN is unavailable
if (ap_dronecan == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s DroneCAN subscribe failed", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s DroneCAN subscribe failed", send_text_prefix);
return;
}

Expand Down Expand Up @@ -437,39 +437,39 @@ bool AP_Mount_Xacti::handle_param_get_set_response_int(AP_UAVCAN* ap_dronecan, u
const char* err_prefix_str = "Xacti: failed to";
if (strcmp(name, get_param_name_str(Param::SingleShot)) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s take pic", err_prefix_str);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s take pic", err_prefix_str);
}
return false;
}
if (strcmp(name, get_param_name_str(Param::Recording)) == 0) {
if (value < 0) {
_recording_video = false;
gcs().send_text(MAV_SEVERITY_ERROR, "%s record", err_prefix_str);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s record", err_prefix_str);
} else {
_recording_video = (value == 1);
gcs().send_text(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording_video ? "ON" : "OFF");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording_video ? "ON" : "OFF");
}
return false;
}
if (strcmp(name, get_param_name_str(Param::FocusMode)) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change focus", err_prefix_str);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change focus", err_prefix_str);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "%s %s focus", send_text_prefix, value == 0 ? "manual" : "auto");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s focus", send_text_prefix, value == 0 ? "manual" : "auto");
}
return false;
}
if (strcmp(name, get_param_name_str(Param::SensorMode)) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change lens", err_prefix_str);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change lens", err_prefix_str);
} else if ((uint32_t)value < ARRAY_SIZE(sensor_mode_str)) {
gcs().send_text(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, sensor_mode_str[(uint8_t)value]);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, sensor_mode_str[(uint8_t)value]);
}
return false;
}
if (strcmp(name, get_param_name_str(Param::DigitalZoomMagnification)) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change zoom", err_prefix_str);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s change zoom", err_prefix_str);
// disable zoom rate control (if active) to avoid repeated failures
_zoom_rate_control.enabled = false;
} else if (value >= 100 && value <= 1000) {
Expand All @@ -478,7 +478,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_int(AP_UAVCAN* ap_dronecan, u
return false;
}
// unhandled parameter get or set
gcs().send_text(MAV_SEVERITY_INFO, "%s get/set %s res:%ld", send_text_prefix, name, (long int)value);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s get/set %s res:%ld", send_text_prefix, name, (long int)value);
return false;
}

Expand All @@ -489,7 +489,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_UAVCAN* ap_dronecan
_firmware_version.received = true;
const uint8_t len = MIN(value.len, ARRAY_SIZE(_firmware_version.str)-1);
memcpy(_firmware_version.str, (const char*)value.data, len);
gcs().send_text(MAV_SEVERITY_INFO, "Mount: Xacti fw:%s", _firmware_version.str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Xacti fw:%s", _firmware_version.str);

// firmware str from gimbal is of the format YYMMDD[b]xx. Convert to uint32 for reporting to GCS
if (len >= 9) {
Expand All @@ -506,7 +506,7 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_UAVCAN* ap_dronecan
return false;
} else if (strcmp(name, get_param_name_str(Param::DateTime)) == 0) {
// display when time and date have been set
gcs().send_text(MAV_SEVERITY_INFO, "%s datetime set %s", send_text_prefix, (const char*)value.data);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s datetime set %s", send_text_prefix, (const char*)value.data);
return false;
} else if (strcmp(name, get_param_name_str(Param::Status)) == 0) {
// check for expected length
Expand All @@ -524,29 +524,29 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_UAVCAN* ap_dronecan
uint32_t changed_bits = last_error_status ^ _status.error_status;
const char* ok_str = "OK";
if (changed_bits & (uint32_t)ErrorStatus::TIME_NOT_SET) {
gcs().send_text(MAV_SEVERITY_INFO, "%s time %sset", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET ? "not " : "");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s time %sset", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET ? "not " : "");
if (_status.error_status & (uint32_t)ErrorStatus::TIME_NOT_SET) {
// try to set time again
_datetime.set = false;
}
}
if (changed_bits & (uint32_t)ErrorStatus::MEDIA_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s media %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MEDIA_ERROR ? error_str : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s media %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MEDIA_ERROR ? error_str : ok_str);
}
if (changed_bits & (uint32_t)ErrorStatus::LENS_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s lens %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::LENS_ERROR ? error_str : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s lens %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::LENS_ERROR ? error_str : ok_str);
}
if (changed_bits & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s motor %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR ? "init error" : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s motor %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_INIT_ERROR ? "init error" : ok_str);
}
if (changed_bits & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s motor op %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR ? error_str : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s motor op %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::MOTOR_OPERATION_ERROR ? error_str : ok_str);
}
if (changed_bits & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR) {
gcs().send_text(MAV_SEVERITY_INFO, "%s control %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR ? error_str : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s control %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::GIMBAL_CONTROL_ERROR ? error_str : ok_str);
}
if (changed_bits & (uint32_t)ErrorStatus::TEMP_WARNING) {
gcs().send_text(MAV_SEVERITY_INFO, "%s temp %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TEMP_WARNING ? "warning" : ok_str);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s temp %s", send_text_prefix, _status.error_status & (uint32_t)ErrorStatus::TEMP_WARNING ? "warning" : ok_str);
}

// set motor error for health reporting
Expand All @@ -556,15 +556,15 @@ bool AP_Mount_Xacti::handle_param_get_set_response_string(AP_UAVCAN* ap_dronecan
}

// unhandled parameter get or set
gcs().send_text(MAV_SEVERITY_INFO, "%s get/set string %s res:%s", send_text_prefix, name, (const char*)value.data);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s get/set string %s res:%s", send_text_prefix, name, (const char*)value.data);
return false;
}

void AP_Mount_Xacti::handle_param_save_response(AP_UAVCAN* ap_dronecan, const uint8_t node_id, bool success)
{
// display failure to save parameter
if (!success) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s CAM%u failed to set param", send_text_prefix, (int)_instance+1);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s CAM%u failed to set param", send_text_prefix, (int)_instance+1);
}
}

Expand Down Expand Up @@ -774,7 +774,7 @@ bool AP_Mount_Xacti::set_datetime(uint32_t now_ms)
datetime_string.len = num_bytes;
_datetime.set = set_param_string(Param::DateTime, datetime_string);
if (!_datetime.set) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s failed to set date/time", send_text_prefix);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s failed to set date/time", send_text_prefix);
}

return _datetime.set;
Expand Down

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