(#647) cleaned up Log internal api

examples/demos/app_push_demo/src/push.c

@@ -89,11 +89,11 @@ void appMain()
 
   vTaskDelay(M2T(3000));
 
-  uint16_t idUp = logGetVarId("range", "up");
-  uint16_t idLeft = logGetVarId("range", "left");
-  uint16_t idRight = logGetVarId("range", "right");
-  uint16_t idFront = logGetVarId("range", "front");
-  uint16_t idBack = logGetVarId("range", "back");
+  logVarId_t idUp = logGetVarId("range", "up");
+  logVarId_t idLeft = logGetVarId("range", "left");
+  logVarId_t idRight = logGetVarId("range", "right");
+  logVarId_t idFront = logGetVarId("range", "front");
+  logVarId_t idBack = logGetVarId("range", "back");
 
   paramVarId_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
   paramVarId_t idMultiranger = paramGetVarId("deck", "bcMultiranger");

examples/demos/swarm_demo/app.c

@@ -74,15 +74,15 @@ static uint8_t trajectoryCount = 255;
 static uint8_t remainingTrajectories = 0;
 
 // Log and param ids
-static uint16_t logIdStateEstimateX;
-static uint16_t logIdStateEstimateY;
-static uint16_t logIdStateEstimateZ;
-static uint16_t logIdKalmanVarPX;
-static uint16_t logIdKalmanVarPY;
-static uint16_t logIdKalmanVarPZ;
-static uint16_t logIdPmState;
-static uint16_t logIdlighthouseEstBs0Rt;
-static uint16_t logIdlighthouseEstBs1Rt;
+static logVarId_t logIdStateEstimateX;
+static logVarId_t logIdStateEstimateY;
+static logVarId_t logIdStateEstimateZ;
+static logVarId_t logIdKalmanVarPX;
+static logVarId_t logIdKalmanVarPY;
+static logVarId_t logIdKalmanVarPZ;
+static logVarId_t logIdPmState;
+static logVarId_t logIdlighthouseEstBs0Rt;
+static logVarId_t logIdlighthouseEstBs1Rt;
 
 static paramVarId_t paramIdStabilizerController;
 static paramVarId_t paramIdCommanderEnHighLevel;

src/deck/drivers/src/usddeck.c

@@ -546,7 +546,7 @@ void usddeckTriggerLogging(void)
   memcpy(usdLogBuffer, &ticks, 4);
   int offset = 4;
   for (int i = 0; i < usdLogConfig.numSlots; ++i) {
-    int varid = usdLogConfig.varIds[i];
+    logVarId_t varid = usdLogConfig.varIds[i];
     switch (logGetType(varid)) {
       case LOG_UINT8:
       case LOG_INT8:

src/modules/interface/log.h

@@ -34,15 +34,84 @@
 void logInit(void);
 bool logTest(void);
 
-/* Internal access of log variables */
-int logGetVarId(char* group, char* name);
-int logGetType(int varid);
-void logGetGroupAndName(int varid, char** group, char** name);
-void* logGetAddress(int varid);
+/* Public API to access of log variables */
+
+/** Variable identifier.
+ * 
+ * Should be fetched with logGetVarId(). This is to be considered as an
+ * opaque type, internal structure might change.
+ * 
+ * Use LOG_VARID_IS_VALID() to check if the ID is valid.
+ */
+typedef uint16_t logVarId_t;
+
+/** Get the varId from group and name of variable
+ * 
+ * @param group Group name of the variable
+ * @param name Name of the variable
+ * @return The variable ID or an invalid ID. Use LOG_VARID_IS_VALID() to check validity.
+ */
+logVarId_t logGetVarId(char* group, char* name);
+
+/** Check variable ID validity
+ * 
+ * @param varId variable ID, returned by logGetLogId()
+ * @return true if the variable ID is valid, false otherwise.
+ */
+#define LOG_VARID_IS_VALID(varId) (varId != 0xffffu)
+
+/** Return the logging type
+ * 
+ * @param varId variable ID, returned by logGetVarId()
+ * @return Type of the variable. The value correspond to the defines used when
+ *         declaring a param variable.
+ */
+int logGetType(logVarId_t varid);
+
+/** Get group and name strings of a parameter
+ * 
+ * @param varId variable ID, returned by logGetVarId()
+ * @param group Pointer to a char* that will be filled with the group name
+ * @param group Pointer to a char* that will be filled with the variable name
+ * 
+ * The string buffers must be able to hold at least 32 bytes.
+ */
+void logGetGroupAndName(logVarId_t varid, char** group, char** name);
+
+/** Get address of the logging variable
+ * 
+ * @param varId variable ID, returned by logGetVarId()
+ * @return Address of the location of log variable
+ *  */
+void* logGetAddress(logVarId_t varid);
+
+/** Get log variable size in byte
+ * 
+ * @param type Type returned by logGetType()
+ * @return Size in byte occupied by variable of this type
+ */
 uint8_t logVarSize(int type);
-float logGetFloat(int varid);
-int logGetInt(int varid);
-unsigned int logGetUint(int varid);
+
+/** Return float value of a logging variable
+ * 
+ * @param varId variable ID, returned by logGetVarId()
+ * @return Current value of the variable
+ */
+float logGetFloat(logVarId_t varid);
+
+/** Return int value of a logging variable
+ * 
+ * @param varId variable ID, returned by logGetVarId()
+ * @return Current value of the variable
+ */
+int logGetInt(logVarId_t varid);
+
+/** Return Unsigned int value of a logging variable
+ * 
+ * @param varId variable ID, returned by paramGetVarId()
+ * @return Current value of the variable
+ */
+unsigned int logGetUint(logVarId_t varid);
 
 /* Basic log structure */
 struct log_s {

src/modules/src/log.c

@@ -960,29 +960,34 @@ static void logReset(void)
 }
 
 /* Public API to access log TOC from within the copter */
-int logGetVarId(char* group, char* name)
+static logVarId_t invalidVarId = 0xffffu;
+
+logVarId_t logGetVarId(char* group, char* name)
 {
   int i;
+  logVarId_t varId = invalidVarId;
   char * currgroup = "";
 
   for(i=0; i<logsLen; i++)
   {
     if (logs[i].type & LOG_GROUP) {
       if (logs[i].type & LOG_START)
         currgroup = logs[i].name;
-    } if ((!strcmp(group, currgroup)) && (!strcmp(name, logs[i].name)))
-      return i;
+    } if ((!strcmp(group, currgroup)) && (!strcmp(name, logs[i].name))) {
+      varId = (logVarId_t)i;
+      return varId;
+    }
   }
 
-  return -1;
+  return invalidVarId;
 }
 
-int logGetType(int varid)
+int logGetType(logVarId_t varid)
 {
   return logs[varid].type;
 }
 
-void logGetGroupAndName(int varid, char** group, char** name)
+void logGetGroupAndName(logVarId_t varid, char** group, char** name)
 {
   char * currgroup = "";
   *group = 0;
@@ -1003,7 +1008,7 @@ void logGetGroupAndName(int varid, char** group, char** name)
   }
 }
 
-void* logGetAddress(int varid)
+void* logGetAddress(logVarId_t varid)
 {
   return logs[varid].address;
 }
@@ -1013,11 +1018,11 @@ uint8_t logVarSize(int type)
   return typeLength[type];
 }
 
-int logGetInt(int varid)
+int logGetInt(logVarId_t varid)
 {
   int valuei = 0;
 
-  ASSERT(varid >= 0);
+  ASSERT(LOG_VARID_IS_VALID(varid));
 
   switch(logs[varid].type)
   {
@@ -1047,17 +1052,17 @@ int logGetInt(int varid)
   return valuei;
 }
 
-float logGetFloat(int varid)
+float logGetFloat(logVarId_t varid)
 {
-  ASSERT(varid >= 0);
+  ASSERT(LOG_VARID_IS_VALID(varid));
 
   if (logs[varid].type == LOG_FLOAT)
     return *(float *)logs[varid].address;
 
   return logGetInt(varid);
 }
 
-unsigned int logGetUint(int varid)
+unsigned int logGetUint(logVarId_t varid)
 {
   return (unsigned int)logGetInt(varid);
 }