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AP_Logger: allow WriteV() to work within Replay 

save formats for lookup by WriteV
This commit is contained in:
Andrew Tridgell 2020-11-16 08:47:39 +11:00 committed by Peter Barker
parent e122d8ae8e
commit 04f60001ff
2 changed files with 31 additions and 6 deletions
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34
libraries/AP_Logger/AP_Logger.cpp
View File

@ -652,9 +652,33 @@ void AP_Logger::set_vehicle_armed(const bool armed_state)
}
#if APM_BUILD_TYPE(APM_BUILD_Replay)
/*
remember formats for replay. This allows WriteV() to work within
replay
*/
void AP_Logger::save_format_Replay(const void *pBuffer)
{
if (((uint8_t *)pBuffer)[2] == LOG_FORMAT_MSG) {
struct log_Format *fmt = (struct log_Format *)pBuffer;
struct log_write_fmt *f = new log_write_fmt;
f->msg_type = fmt->type;
f->msg_len = fmt->length;
f->name = strndup(fmt->name, sizeof(fmt->name));
f->fmt = strndup(fmt->format, sizeof(fmt->format));
f->labels = strndup(fmt->labels, sizeof(fmt->labels));
f->next = log_write_fmts;
log_write_fmts = f;
}
}
#endif
// start functions pass straight through to backend:
void AP_Logger::WriteBlock(const void *pBuffer, uint16_t size) {
#if APM_BUILD_TYPE(APM_BUILD_Replay)
save_format_Replay(pBuffer);
#endif
FOR_EACH_BACKEND(WriteBlock(pBuffer, size));
}
@ -882,8 +906,8 @@ void AP_Logger::WriteCritical(const char *name, const char *labels, const char *
void AP_Logger::WriteV(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, va_list arg_list, bool is_critical)
{
// WriteV is not safe in replay as we can re-use IDs
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_write_fmt *f = msg_fmt_for_name(name, labels, units, mults, fmt);
const bool direct_comp = APM_BUILD_TYPE(APM_BUILD_Replay);
struct log_write_fmt *f = msg_fmt_for_name(name, labels, units, mults, fmt, direct_comp);
if (f == nullptr) {
// unable to map name to a messagetype; could be out of
// msgtypes, could be out of slots, ...
@ -903,7 +927,6 @@ void AP_Logger::WriteV(const char *name, const char *labels, const char *units,
backends[i]->Write(f->msg_type, arg_copy, is_critical);
va_end(arg_copy);
}
#endif
}
/*
@ -975,13 +998,12 @@ void AP_Logger::assert_same_fmt_for_name(const AP_Logger::log_write_fmt *f,
AP_Logger::log_write_fmt *AP_Logger::msg_fmt_for_name(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, const bool direct_comp)
{
WITH_SEMAPHORE(log_write_fmts_sem);
struct log_write_fmt *f;
for (f = log_write_fmts; f; f=f->next) {
if (!direct_comp) {
if (f->name == name) { // ptr comparison
// already have an ID for this name:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !APM_BUILD_TYPE(APM_BUILD_Replay)
assert_same_fmt_for_name(f, name, labels, units, mults, fmt);
#endif
return f;
@ -990,7 +1012,7 @@ AP_Logger::log_write_fmt *AP_Logger::msg_fmt_for_name(const char *name, const ch
// direct comparison used from scripting where pointer is not maintained
if (strcmp(f->name,name) == 0) {
// already have an ID for this name:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !APM_BUILD_TYPE(APM_BUILD_Replay)
assert_same_fmt_for_name(f, name, labels, units, mults, fmt);
#endif
return f;

3
libraries/AP_Logger/AP_Logger.h
View File

@ -490,6 +490,9 @@ private:
bool _writes_enabled:1;
bool _force_log_disarmed:1;
// remember formats for replay
void save_format_Replay(const void *pBuffer);
/* support for retrieving logs via mavlink: */
enum class TransferActivity {