ardupilot/libraries/AP_Logger/LoggerMessageWriter.h

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#pragma once
#include "AP_Logger_Backend.h"
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#include <AP_Rally/AP_Rally.h>
class LoggerMessageWriter {
public:
virtual void reset() = 0;
virtual void process() = 0;
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virtual bool finished() { return _finished; }
virtual void set_logger_backend(class AP_Logger_Backend *backend) {
_logger_backend = backend;
}
bool out_of_time_for_writing_messages() const;
protected:
bool _finished = false;
AP_Logger_Backend *_logger_backend = nullptr;
};
class LoggerMessageWriter_WriteSysInfo : public LoggerMessageWriter {
public:
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void reset() override;
void process() override;
private:
enum class Stage : uint8_t {
FIRMWARE_STRING = 0,
GIT_VERSIONS,
VER, // i.e. the "VER" message
SYSTEM_ID,
PARAM_SPACE_USED,
RC_PROTOCOL,
RC_OUTPUT,
};
Stage stage;
};
class LoggerMessageWriter_WriteEntireMission : public LoggerMessageWriter {
public:
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void reset() override;
void process() override;
private:
enum class Stage {
WRITE_NEW_MISSION_MESSAGE = 0,
WRITE_MISSION_ITEMS,
DONE
};
uint16_t _mission_number_to_send;
Stage stage;
};
class LoggerMessageWriter_WriteAllRallyPoints : public LoggerMessageWriter {
public:
void reset() override;
void process() override;
private:
enum class Stage {
WRITE_NEW_RALLY_MESSAGE = 0,
WRITE_ALL_RALLY_POINTS,
DONE
};
uint16_t _rally_number_to_send;
Stage stage = Stage::WRITE_NEW_RALLY_MESSAGE;
};
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#if HAL_LOGGER_FENCE_ENABLED
class LoggerMessageWriter_Write_Polyfence : public LoggerMessageWriter {
public:
void reset() override;
void process() override;
private:
enum class Stage {
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WRITE_NEW_FENCE_MESSAGE = 0,
WRITE_FENCE_ITEMS,
DONE
};
uint16_t _fence_number_to_send;
Stage stage;
};
#endif // HAL_LOGGER_FENCE_ENABLED
class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
public:
LoggerMessageWriter_DFLogStart() :
_writesysinfo()
#if AP_MISSION_ENABLED
, _writeentiremission()
#endif
#if HAL_RALLY_ENABLED
, _writeallrallypoints()
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#endif
#if HAL_LOGGER_FENCE_ENABLED
, _writeallpolyfence()
#endif
{
}
virtual void set_logger_backend(class AP_Logger_Backend *backend) override {
LoggerMessageWriter::set_logger_backend(backend);
_writesysinfo.set_logger_backend(backend);
#if AP_MISSION_ENABLED
_writeentiremission.set_logger_backend(backend);
#endif
#if HAL_RALLY_ENABLED
_writeallrallypoints.set_logger_backend(backend);
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#endif
#if HAL_LOGGER_FENCE_ENABLED
_writeallpolyfence.set_logger_backend(backend);
#endif
}
bool out_of_time_for_writing_messages() const;
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void reset() override;
void process() override;
bool fmt_done() const { return _fmt_done; }
bool params_done() const { return _params_done; }
// reset some writers so we push stuff out to logs again. Will
// only work if we are in state DONE!
#if AP_MISSION_ENABLED
bool writeentiremission();
#endif
#if HAL_RALLY_ENABLED
bool writeallrallypoints();
#endif
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#if HAL_LOGGER_FENCE_ENABLED
bool writeallfence();
#endif
private:
enum class Stage {
FORMATS = 0,
UNITS,
MULTIPLIERS,
FORMAT_UNITS,
PARMS,
VEHICLE_MESSAGES,
RUNNING_SUBWRITERS, // must be last thing to run as we can redo bits of these
DONE,
};
bool _fmt_done;
bool _params_done;
Stage stage;
uint16_t next_format_to_send;
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uint8_t _next_unit_to_send;
uint8_t _next_format_unit_to_send;
uint8_t _next_multiplier_to_send;
AP_Param::ParamToken token;
AP_Param *ap;
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float param_default;
enum ap_var_type type;
LoggerMessageWriter_WriteSysInfo _writesysinfo;
#if AP_MISSION_ENABLED
LoggerMessageWriter_WriteEntireMission _writeentiremission;
#endif
#if HAL_RALLY_ENABLED
LoggerMessageWriter_WriteAllRallyPoints _writeallrallypoints;
#endif
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#if HAL_LOGGER_FENCE_ENABLED
LoggerMessageWriter_Write_Polyfence _writeallpolyfence;
#endif
};