Added "enable/disable logging" functionality to C++ and Java Libraries.

kauailabs · Feb 28, 2017 · d34b079 · d34b079
1 parent 4ce6157
commit d34b079
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Showing 19 changed files with 66 additions and 4 deletions.
diff --git a/roborio/c++/navx_frc_cpp/include/AHRS.h b/roborio/c++/navx_frc_cpp/include/AHRS.h
@@ -193,6 +193,8 @@ class AHRS : public SensorBase,
     int GetActualUpdateRate();
     int GetRequestedUpdateRate();
 
+    void EnableLogging(bool enable);
+
 private:
     void SPIInit( SPI::Port spi_port_id, uint32_t bitrate, uint8_t update_rate_hz );
     void I2CInit( I2C::Port i2c_port_id, uint8_t update_rate_hz );

diff --git a/roborio/c++/navx_frc_cpp/src/AHRS.cpp b/roborio/c++/navx_frc_cpp/src/AHRS.cpp
@@ -882,6 +882,18 @@ float AHRS::GetDisplacementZ() {
     return (ahrs_internal->IsDisplacementSupported() ? displacement[2] : 0.f);
 }
 
+/**
+ * Enables or disables logging (via Console I/O) of AHRS library internal
+ * behaviors, including events such as transient communication errors.
+ * @param enable
+ */
+void AHRS::EnableLogging(bool enable) {
+	if ( this->io != NULL) {
+		io->EnableLogging(enable);
+	}
+}
+
+
 #define NAVX_IO_THREAD_NAME "navXIOThread"
 
 void AHRS::SPIInit( SPI::Port spi_port_id, uint32_t bitrate, uint8_t update_rate_hz ) {

diff --git a/roborio/c++/navx_frc_cpp/src/IIOProvider.h b/roborio/c++/navx_frc_cpp/src/IIOProvider.h
@@ -21,6 +21,7 @@ class IIOProvider {
     virtual void   ZeroDisplacement() = 0;
     virtual void   Run() = 0;
     virtual void   Stop() = 0;
+    virtual void   EnableLogging(bool enable) = 0;
 };
 
 #endif /* SRC_IIOPROVIDER_H_ */
diff --git a/roborio/c++/navx_frc_cpp/src/IRegisterIO.h b/roborio/c++/navx_frc_cpp/src/IRegisterIO.h
@@ -17,6 +17,7 @@ class IRegisterIO {
     virtual bool Write(uint8_t address, uint8_t value ) = 0;
     virtual bool Read(uint8_t first_address, uint8_t* buffer, uint8_t buffer_len) = 0;
     virtual bool Shutdown() = 0;
+    virtual void EnableLogging(bool enable) = 0;
 };
 
 #endif /* SRC_IREGISTERIO_H_ */
diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIO.cpp b/roborio/c++/navx_frc_cpp/src/RegisterIO.cpp
@@ -92,6 +92,10 @@ void RegisterIO::Stop() {
     stop = true;
 }
 
+void RegisterIO::EnableLogging(bool enable) {
+	io_provider->EnableLogging(enable);
+}
+
 bool RegisterIO::GetConfiguration() {
     bool success = false;
     int retry_count = 0;

diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIO.h b/roborio/c++/navx_frc_cpp/src/RegisterIO.h
@@ -46,6 +46,7 @@ class RegisterIO : public IIOProvider {
     void   ZeroDisplacement();
     void   Run();
     void   Stop();
+    void   EnableLogging(bool enable);
     virtual ~RegisterIO();
 private:
     bool   GetConfiguration();

diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIOI2C.cpp b/roborio/c++/navx_frc_cpp/src/RegisterIOI2C.cpp
@@ -11,7 +11,7 @@
 static priority_mutex imu_mutex;
 RegisterIO_I2C::RegisterIO_I2C(I2C* port) {
     this->port = port;
-    this->trace = true;
+    this->trace = false;
 }
 
 bool RegisterIO_I2C::Init() {
@@ -51,4 +51,7 @@ bool RegisterIO_I2C::Shutdown() {
     return true;
 }
 
+void RegisterIO_I2C::EnableLogging(bool enable) {
+	trace = enable;
+}
 
diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIOI2C.h b/roborio/c++/navx_frc_cpp/src/RegisterIOI2C.h
@@ -19,6 +19,7 @@ class RegisterIO_I2C : public IRegisterIO {
     bool Write(uint8_t address, uint8_t value );
     bool Read(uint8_t first_address, uint8_t* buffer, uint8_t buffer_len);
     bool Shutdown();
+    void EnableLogging(bool enable);
 private:
     I2C *port;
     bool trace;

diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIOSPI.cpp b/roborio/c++/navx_frc_cpp/src/RegisterIOSPI.cpp
@@ -11,7 +11,7 @@ static priority_mutex imu_mutex;
 RegisterIO_SPI::RegisterIO_SPI(SPI *port, uint32_t bitrate) {
     this->port = port;
     this->bitrate = bitrate;
-    this->trace = true;
+    this->trace = false;
 }
 
 bool RegisterIO_SPI::Init() {
@@ -65,3 +65,7 @@ bool RegisterIO_SPI::Read(uint8_t first_address, uint8_t* buffer, uint8_t buffer
 bool RegisterIO_SPI::Shutdown() {
     return true;
 }
+
+void RegisterIO_SPI::EnableLogging(bool enable) {
+	trace = enable;
+}
diff --git a/roborio/c++/navx_frc_cpp/src/RegisterIOSPI.h b/roborio/c++/navx_frc_cpp/src/RegisterIOSPI.h
@@ -21,6 +21,7 @@ class RegisterIO_SPI: public IRegisterIO {
     bool Write(uint8_t address, uint8_t value );
     bool Read(uint8_t first_address, uint8_t* buffer, uint8_t buffer_len);
     bool Shutdown();
+    void EnableLogging(bool enable);
 private:
     SPI *port;
     uint32_t bitrate;

diff --git a/roborio/c++/navx_frc_cpp/src/SerialIO.cpp b/roborio/c++/navx_frc_cpp/src/SerialIO.cpp
@@ -549,3 +549,5 @@ void SerialIO::Stop() {
     stop = true;
 }
 
+void SerialIO::EnableLogging(bool enable) {
+}
diff --git a/roborio/c++/navx_frc_cpp/src/SerialIO.h b/roborio/c++/navx_frc_cpp/src/SerialIO.h
@@ -55,6 +55,7 @@ class SerialIO : public IIOProvider {
     void ZeroDisplacement();
     void Run();
     void Stop();
+    void EnableLogging(bool enable);
 private:
 
     SerialPort *ResetSerialPort();

diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java
@@ -1224,6 +1224,17 @@ public String getFirmwareVersion() {
         return fw_version;
     }
 
+    /**
+     * Enables or disables logging (via Console I/O) of AHRS library internal
+     * behaviors, including events such as transient communication errors.
+     * @param enable
+     */
+    public void enableLogging(boolean enable) {
+    	if ( this.io != null) {
+    		io.enableLogging(enable);
+    	}
+    }
+
     /***********************************************************/
     /* Runnable Interface Implementation                       */
     /***********************************************************/

diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/IIOProvider.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/IIOProvider.java
@@ -18,4 +18,5 @@ interface IIOProvider {
     public void     zeroDisplacement();
     public void     run();
     public void     stop();
+    public void		enableLogging(boolean enable);
 }
diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/IRegisterIO.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/IRegisterIO.java
@@ -14,4 +14,5 @@ interface IRegisterIO {
     boolean write(byte address, byte value );
     boolean read(byte first_address, byte[] buffer);
     boolean shutdown();
+    void enableLogging(boolean enable);
 }
diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java
@@ -238,4 +238,8 @@ public void zeroDisplacement() {
                                    AHRSProtocol.NAVX_INTEGRATION_CTL_RESET_DISP_Z ) );       
     }
 
+    @Override
+    public void enableLogging(boolean enable) {
+    	io_provider.enableLogging(enable);
+    }
 }
diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
@@ -14,7 +14,7 @@
 class RegisterIO_I2C implements IRegisterIO{
 
     I2C port;
-    boolean trace = true;
+    boolean trace = false;
 
     public RegisterIO_I2C( I2C i2c_port ) {
         port = i2c_port;
@@ -25,6 +25,11 @@ public boolean init() {
         return true;
     }
 
+    @Override
+    public void enableLogging(boolean enable) {
+    	trace = enable;
+    }    
+
     @Override
     public boolean write(byte address, byte value ) {
     	boolean success;

diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_SPI.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_SPI.java
@@ -18,7 +18,7 @@ class RegisterIO_SPI implements IRegisterIO{
 
     SPI port;
     int bitrate;
-    boolean trace = true;
+    boolean trace = false;
 
     static final int   DEFAULT_SPI_BITRATE_HZ         = 500000;
 
@@ -27,6 +27,10 @@ public RegisterIO_SPI( SPI spi_port ) {
         bitrate = DEFAULT_SPI_BITRATE_HZ;
     }
 
+    public void enableLogging(boolean enable) {
+    	trace = enable;
+    }
+
     public RegisterIO_SPI( SPI spi_port, int bitrate ) {
         port = spi_port;
         this.bitrate = bitrate;

diff --git a/roborio/java/navx_frc/src/com/kauailabs/navx/frc/SerialIO.java b/roborio/java/navx_frc/src/com/kauailabs/navx/frc/SerialIO.java
@@ -596,5 +596,8 @@ public void stop() {
         stop = true;
     }
 
+    @Override
+    public void enableLogging(boolean enable) {
+    }
 
 }