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Replaced Logger usage with LOG_x (#548)

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This commit is contained in:
Ken Van Hoeylandt
2026-07-04 23:49:19 +02:00
committed by GitHub
parent ecad2248d9
commit 9d5993930d
162 changed files with 1776 additions and 1842 deletions
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Tactility/Source/hal/gps/Ublox.cpp
+38 -38
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@@ -1,16 +1,16 @@
#include <Tactility/hal/gps/Ublox.h>
#include <Tactility/hal/gps/UbloxMessages.h>
#include <Tactility/kernel/Kernel.h>
#include <Tactility/Logger.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <tactility/log.h>
#include <cstring>
namespace tt::hal::gps::ublox {
static const auto LOGGER = Logger("Ublox");
constexpr auto* TAG = "Ublox";
bool initUblox6(::Device* uart);
bool initUblox789(::Device* uart, GpsModel model);
@@ -21,7 +21,7 @@ bool initUblox10(::Device* uart);
auto msglen = makePacket(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
uart_controller_write_bytes(UART, BUFFER, msglen, TIMEOUT_MILLIS / portTICK_PERIOD_MS); \
if (getAck(UART, TYPE, ID, TIMEOUT_MILLIS) != GpsResponse::Ok) { \
LOGGER.info("Sending packet failed: {}", #ERRMSG); \
LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
} \
} while (0)
@@ -85,7 +85,7 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
while (kernel::getTicks() - startTime < waitTicks) {
if (ack > 9) {
#ifdef GPS_DEBUG
LOGGER.info("Got ACK for class {:02X} message {:02X} in {}ms", class_id, msg_id, kernel::getMillis() - startTime);
LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", class_id, msg_id, kernel::getMillis() - startTime);
#endif
return GpsResponse::Ok; // ACK received
}
@@ -98,7 +98,7 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
if (sCounter == 26) {
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOG_I(TAG, "%s", debugmsg.c_str());
#endif
return GpsResponse::FrameErrors;
}
@@ -113,9 +113,9 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
} else {
if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOG_I(TAG, "%s", debugmsg.c_str());
#endif
LOGGER.warn("Got NAK for class {:02X} message {:02X}", class_id, msg_id);
LOG_W(TAG, "Got NAK for class %02X message %02X", class_id, msg_id);
return GpsResponse::NotAck; // NAK received
}
ack = 0; // Reset the acknowledgement counter
@@ -123,8 +123,8 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
}
}
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOGGER.warn("No response for class %02X message %02X", class_id, msg_id);
LOG_I(TAG, "%s", debugmsg.c_str());
LOG_W(TAG, "No response for class %02X message %02X", class_id, msg_id);
#endif
return GpsResponse::None; // No response received within timeout
}
@@ -190,7 +190,7 @@ static int getAck(::Device* uart, uint8_t* buffer, uint16_t size, uint8_t reques
} else {
// return payload length
#ifdef GPS_DEBUG
LOGGER.info("Got ACK for class {:02X} message {:02X} in {}ms", requestedClass, requestedId, kernel::getMillis() - startTime);
LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", requestedClass, requestedId, kernel::getMillis() - startTime);
#endif
return needRead;
}
@@ -214,8 +214,7 @@ static struct uBloxGnssModelInfo {
} ublox_info;
GpsModel probe(::Device* uart) {
LOGGER.info("Probing for U-blox");
constexpr auto DETECTED_MESSAGE = "{} detected, using {} Module";
LOG_I(TAG, "Probing for U-blox");
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
checksum(cfg_rate, sizeof(cfg_rate));
@@ -224,10 +223,10 @@ GpsModel probe(::Device* uart) {
// Check that the returned response class and message ID are correct
GpsResponse response = getAck(uart, 0x06, 0x08, 750);
if (response == GpsResponse::None) {
LOGGER.warn("No GNSS Module");
LOG_W(TAG, "No GNSS Module");
return GpsModel::Unknown;
} else if (response == GpsResponse::FrameErrors) {
LOGGER.warn("UBlox Frame Errors");
LOG_W(TAG, "UBlox Frame Errors");
}
uint8_t buffer[256];
@@ -265,12 +264,12 @@ GpsModel probe(::Device* uart) {
break;
}
LOGGER.info("Module Info:");
LOGGER.info("Soft version: {}", ublox_info.swVersion);
LOGGER.info("Hard version: {}", ublox_info.hwVersion);
LOGGER.info("Extensions: {}", ublox_info.extensionNo);
LOG_I(TAG, "Module Info:");
LOG_I(TAG, "Soft version: %s", ublox_info.swVersion);
LOG_I(TAG, "Hard version: %s", ublox_info.hwVersion);
LOG_I(TAG, "Extensions: %u", ublox_info.extensionNo);
for (int i = 0; i < ublox_info.extensionNo; i++) {
LOGGER.info(" %s", ublox_info.extension[i]);
LOG_I(TAG, " %s", ublox_info.extension[i]);
}
memset(buffer, 0, sizeof(buffer));
@@ -283,29 +282,30 @@ GpsModel probe(::Device* uart) {
char* ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char*)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
LOGGER.info("Protocol Version: {}", (char*)buffer);
LOG_I(TAG, "Protocol Version: %s", (char*)buffer);
if (strlen((char*)buffer)) {
ublox_info.protocol_version = strtoul((char*)buffer, &ptr, 10);
LOGGER.info("ProtVer={}", ublox_info.protocol_version);
LOG_I(TAG, "ProtVer=%u", ublox_info.protocol_version);
} else {
ublox_info.protocol_version = 0;
}
}
}
#define DETECTED_MESSAGE "%s detected, using %s Module"
if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 6", "6");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 6", "6");
return GpsModel::UBLOX6;
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 7", "7");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 7", "7");
return GpsModel::UBLOX7;
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 8", "8");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 8", "8");
return GpsModel::UBLOX8;
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 9", "9");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 9", "9");
return GpsModel::UBLOX9;
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 10", "10");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 10", "10");
return GpsModel::UBLOX10;
}
}
@@ -314,7 +314,7 @@ GpsModel probe(::Device* uart) {
}
bool init(::Device* uart, GpsModel model) {
LOGGER.info("U-blox init");
LOG_I(TAG, "U-blox init");
switch (model) {
case GpsModel::UBLOX6:
return initUblox6(uart);
@@ -325,7 +325,7 @@ bool init(::Device* uart, GpsModel model) {
case GpsModel::UBLOX10:
return initUblox10(uart);
default:
LOGGER.error("Unknown or unsupported U-blox model");
LOG_E(TAG, "Unknown or unsupported U-blox model");
return false;
}
}
@@ -374,9 +374,9 @@ bool initUblox10(::Device* uart) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module configuration saved!");
LOG_I(TAG, "GNSS module configuration saved!");
}
return true;
}
@@ -384,7 +384,7 @@ bool initUblox10(::Device* uart) {
bool initUblox789(::Device* uart, GpsModel model) {
uint8_t buffer[256];
if (model == GpsModel::UBLOX7) {
LOGGER.debug("Set GPS+SBAS");
LOG_D(TAG, "Set GPS+SBAS");
auto msglen = makePacket(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
} else { // 8,9
@@ -394,12 +394,12 @@ bool initUblox789(::Device* uart, GpsModel model) {
if (getAck(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
// It's not critical if the module doesn't acknowledge this configuration.
LOGGER.debug("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
} else {
if (model == GpsModel::UBLOX7) {
LOGGER.info("GPS+SBAS configured");
LOG_I(TAG, "GPS+SBAS configured");
} else { // 8,9
LOGGER.info("GPS+SBAS+GLONASS+Galileo configured");
LOG_I(TAG, "GPS+SBAS+GLONASS+Galileo configured");
}
// Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
// commands for the M8 it tends to be more. 1 sec should be enough
@@ -448,9 +448,9 @@ bool initUblox789(::Device* uart, GpsModel model) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module configuration saved!");
LOG_I(TAG, "GNSS module configuration saved!");
}
return true;
}
@@ -482,9 +482,9 @@ bool initUblox6(::Device* uart) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module config saved!");
LOG_I(TAG, "GNSS module config saved!");
}
return true;
}