ardupilot/libraries/AP_Logger/LoggerMessageWriter.h

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#pragma once
#include "AP_Logger_Backend.h"
#include <AP_Mission/AP_Mission.h>
#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;
}
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 write_sysinfo_blockwriter_stage : uint8_t {
ws_blockwriter_stage_formats = 0,
ws_blockwriter_stage_firmware_string,
ws_blockwriter_stage_git_versions,
ws_blockwriter_stage_system_id
};
write_sysinfo_blockwriter_stage stage;
};
class LoggerMessageWriter_WriteEntireMission : public LoggerMessageWriter {
public:
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void reset() override;
void process() override;
private:
enum entire_mission_blockwriter_stage {
em_blockwriter_stage_write_new_mission_message = 0,
em_blockwriter_stage_write_mission_items,
em_blockwriter_stage_done
};
uint16_t _mission_number_to_send;
entire_mission_blockwriter_stage stage;
};
class LoggerMessageWriter_WriteAllRallyPoints : public LoggerMessageWriter {
public:
void reset() override;
void process() override;
private:
enum all_rally_points_blockwriter_stage {
ar_blockwriter_stage_write_new_rally_message = 0,
ar_blockwriter_stage_write_all_rally_points,
ar_blockwriter_stage_done
};
uint16_t _rally_number_to_send;
all_rally_points_blockwriter_stage stage;
};
class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
public:
LoggerMessageWriter_DFLogStart() :
_writesysinfo(),
_writeentiremission(),
_writeallrallypoints()
{
}
virtual void set_logger_backend(class AP_Logger_Backend *backend) override {
LoggerMessageWriter::set_logger_backend(backend);
_writesysinfo.set_logger_backend(backend);
_writeentiremission.set_logger_backend(backend);
_writeallrallypoints.set_logger_backend(backend);
}
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void reset() override;
void process() override;
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bool fmt_done() { return _fmt_done; }
private:
enum log_start_blockwriter_stage {
ls_blockwriter_stage_formats = 0,
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ls_blockwriter_stage_units,
ls_blockwriter_stage_multipliers,
ls_blockwriter_stage_format_units,
ls_blockwriter_stage_parms,
ls_blockwriter_stage_sysinfo,
ls_blockwriter_stage_write_entire_mission,
ls_blockwriter_stage_write_all_rally_points,
ls_blockwriter_stage_vehicle_messages,
ls_blockwriter_stage_done,
};
bool _fmt_done;
log_start_blockwriter_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;
enum ap_var_type type;
LoggerMessageWriter_WriteSysInfo _writesysinfo;
LoggerMessageWriter_WriteEntireMission _writeentiremission;
LoggerMessageWriter_WriteAllRallyPoints _writeallrallypoints;
};