dji_sdk_lib: DJI_Logging.cpp Source File

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00001 
00012 #include "DJI_Logging.h"
00013 #include "DJI_API.h"
00014 #include "DJI_Link.h"
00015 #include "DJI_Type.h"
00016 #include <pthread.h>
00017 
00018 namespace DJI {
00019 namespace onboardSDK {
00020 
00021     pthread_mutex_t _logging_lock = PTHREAD_MUTEX_INITIALIZER;
00022 
00023 void printFrame(HardDriver *serialDevice, Header *header, bool onboardToAircraft) {
00024     pthread_mutex_lock(&_logging_lock);
00025 
00026     uint32_t *crc32 = (uint32_t*) ((uint8_t*)header + header->length - 4);
00027 
00028     if (!header->isAck) {
00029         __Command* command = (__Command*)((uint8_t*)header + sizeof(Header));
00030 
00031         if (!onboardToAircraft && command->set_id == SET_BROADCAST) {
00032             pthread_mutex_unlock(&_logging_lock);
00033             return;
00034         }
00035 
00036         API_LOG(serialDevice, DEBUG_LOG, "\n\n");
00037         if (onboardToAircraft) {
00038             API_LOG(serialDevice, DEBUG_LOG, "|---------------------Sending To Aircraft-------------------------------------------------------------|\n");
00039         } else {
00040             API_LOG(serialDevice, DEBUG_LOG, "|---------------------Received From Aircraft-----------------------------------------------------------|\n");
00041         }
00042 
00043         API_LOG(serialDevice, DEBUG_LOG,
00044                 "|<---------------------Header-------------------------------->|<---CMD frame data--->|<--Tail-->|\n");
00045         API_LOG(serialDevice, DEBUG_LOG,
00046                 "|SOF |LEN |VER|SESSION|ACK|RES0|PADDING|ENC|RES1|SEQ   |CRC16 |CMD SET|CMD ID|CMD VAL|  CRC32   |\n");
00047         API_LOG(serialDevice, DEBUG_LOG,
00048                 "|0x%2X|%4d|%3d|%7d|%3d|%4d|%7d|%3d|%4d|%6d|0x%04X|  0x%02X | 0x%02X |       |0x%08X|\n", header->sof,
00049                 header->length, header->version, header->sessionID, header->isAck,
00050                 header->reversed0, header->padding, header->enc, header->reversed1,
00051                 header->sequenceNumber, header->crc, command->set_id, command->id, *crc32);
00052 
00053         if (command->set_id == SET_ACTIVATION && command->id == 0x00) {
00054 //            API_LOG(serialDevice, DEBUG_LOG,
00055 //                    "command\tset: %d %s\ncommand id:");
00056 //        __ActivationGetProtocolVersionCommand aCommand = (__ActivationGetProtocolVersionCommand) &command;
00057         }
00058     } else {
00059         API_LOG(serialDevice, DEBUG_LOG, "\n\n");
00060         if (onboardToAircraft) {
00061             API_LOG(serialDevice, DEBUG_LOG, "|---------------------Sending To Aircraft-------------------------------------------------------------|\n");
00062         } else {
00063             API_LOG(serialDevice, DEBUG_LOG, "|---------------------Received From Aircraft-----------------------------------------------------------|\n");
00064         }
00065 
00066         API_LOG(serialDevice, DEBUG_LOG,
00067                 "|<---------------------Header-------------------------------->|<-ACK frame data->|<--Tail-->|\n");
00068         API_LOG(serialDevice, DEBUG_LOG,
00069                 "|SOF |LEN |VER|SESSION|ACK|RES0|PADDING|ENC|RES1|SEQ   |CRC16 |      ACK VAL     |  CRC32   |\n");
00070         API_LOG(serialDevice, DEBUG_LOG,
00071                 "|0x%2X|%4d|%3d|%7d|%3d|%4d|%7d|%3d|%4d|%6d|0x%04X|      ACK VAL     |0x%08X|\n", header->sof,
00072                 header->length, header->version, header->sessionID, header->isAck,
00073                 header->reversed0, header->padding, header->enc, header->reversed1,
00074                 header->sequenceNumber, header->crc, *crc32);
00075     }
00076     pthread_mutex_unlock(&_logging_lock);
00077 }
00078 }
00079 }