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Merged in mindnever/librepilot/LP-293-add-alarmstring-to-alarms-library (pull request #231)

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Lp 293 add alarmstring to alarms library
This commit is contained in:
Alessio Morale 2016-05-02 22:42:46 +02:00
commit b00ac8a55a
2 changed files with 107 additions and 2 deletions
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104
flight/libraries/alarms.c
View File

@ -6,7 +6,8 @@
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
@ -281,6 +282,107 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
return highest;
}
static const char *const systemalarms_severity_names[] = {
[SYSTEMALARMS_ALARM_UNINITIALISED] = "UNINITIALISED",
[SYSTEMALARMS_ALARM_OK] = "OK",
[SYSTEMALARMS_ALARM_WARNING] = "WARNING",
[SYSTEMALARMS_ALARM_CRITICAL] = "CRITICAL",
[SYSTEMALARMS_ALARM_ERROR] = "ERROR"
};
static const char *const systemalarms_alarm_names[] = {
[SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION] = "CONFIG",
[SYSTEMALARMS_ALARM_BOOTFAULT] = "BOOT",
[SYSTEMALARMS_ALARM_OUTOFMEMORY] = "MEM",
[SYSTEMALARMS_ALARM_STACKOVERFLOW] = "STACK",
[SYSTEMALARMS_ALARM_CPUOVERLOAD] = "CPU",
[SYSTEMALARMS_ALARM_EVENTSYSTEM] = "EVENT",
[SYSTEMALARMS_ALARM_TELEMETRY] = "TELEMETRY",
[SYSTEMALARMS_ALARM_RECEIVER] = "INPUT",
[SYSTEMALARMS_ALARM_MANUALCONTROL] = "MANUAL",
[SYSTEMALARMS_ALARM_ACTUATOR] = "ACTUATOR",
[SYSTEMALARMS_ALARM_ATTITUDE] = "ATTI",
[SYSTEMALARMS_ALARM_SENSORS] = "SENSOR",
[SYSTEMALARMS_ALARM_MAGNETOMETER] = "MAG",
[SYSTEMALARMS_ALARM_AIRSPEED] = "AIRSPD",
[SYSTEMALARMS_ALARM_STABILIZATION] = "STAB",
[SYSTEMALARMS_ALARM_GUIDANCE] = "GUIDANCE",
[SYSTEMALARMS_ALARM_PATHPLAN] = "PLAN",
[SYSTEMALARMS_ALARM_BATTERY] = "BATT",
[SYSTEMALARMS_ALARM_FLIGHTTIME] = "TIME",
[SYSTEMALARMS_ALARM_I2C] = "I2C",
[SYSTEMALARMS_ALARM_GPS] = "GPS",
};
static const char *const systemalarms_extendedalarmstatus_names[] = {
[SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED] = "CFG:REBOOT",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE] = "CFG:FLIGHTMODE",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT] = "CFG:ONESHOT",
[SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE] = "CFG:THR-COL",
};
size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, SystemAlarmsAlarmOptions level, SystemAlarmsAlarmOptions *highestSeverity)
{
size_t pos = 0;
PIOS_STATIC_ASSERT(NELEMENTS(systemalarms_alarm_names) == SYSTEMALARMS_ALARM_NUMELEM);
for (unsigned severity = SYSTEMALARMS_ALARM_ERROR; severity >= level; --severity) {
// should we prepend severity level here? No, not for now.
for (unsigned i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; ++i) {
if ((SystemAlarmsAlarmToArray(alarm->Alarm)[i] == severity)
&& (systemalarms_alarm_names[i])) {
if (highestSeverity) { // they are already sorted by severity as we are processing in specific order
*highestSeverity = severity;
highestSeverity = 0;
}
// in which case should we dig into extended alarm status?
// looks like SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION sets most of the extended alarms
// except SYSTEMALARMS_ALARM_BOOTFAULT which also sets SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
const char *current_msg = systemalarms_alarm_names[i];
switch (i) {
case SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION:
if (alarm->ExtendedAlarmStatus.SystemConfiguration < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.SystemConfiguration];
}
break;
case SYSTEMALARMS_ALARM_BOOTFAULT:
if (alarm->ExtendedAlarmStatus.BootFault < NELEMENTS(systemalarms_extendedalarmstatus_names)) {
current_msg = systemalarms_extendedalarmstatus_names[alarm->ExtendedAlarmStatus.BootFault];
}
break;
}
int current_len = strlen(current_msg);
if ((pos + current_len + 1) > buffer_size) {
break;
}
memcpy(buffer + pos, current_msg, current_len);
pos += current_len;
buffer[pos++] = ',';
}
}
}
if (pos > 0) {
--pos; // get rid of that trailing separator.
}
buffer[pos] = 0;
return pos; // return length of the string in buffer. Actual bytes written is +1
}
/**
* @}
* @}

5
flight/libraries/inc/alarms.h
View File

@ -5,7 +5,8 @@
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
@ -48,6 +49,8 @@ int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
SystemAlarmsAlarmOptions AlarmsGetHighestSeverity();
size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, SystemAlarmsAlarmOptions level, SystemAlarmsAlarmOptions *highestSeverity);
#endif // ALARMS_H
/**