Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 17:53:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

DataFlash: StopLogging method, virtual stop_logging on backends

Browse Source
This commit is contained in:
Peter Barker 2016-04-22 23:33:40 +10:00 committed by Andrew Tridgell
parent 77dd170e03
commit 518fabe035
5 changed files with 26 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/DataFlash/DataFlash.cpp
View File

@ -81,6 +81,11 @@ void DataFlash_Class::Prep() {
FOR_EACH_BACKEND(Prep());
}
void DataFlash_Class::StopLogging()
{
FOR_EACH_BACKEND(stop_logging());
}
uint16_t DataFlash_Class::find_last_log() const {
if (_next_backend == 0) {
return 0;

2
libraries/DataFlash/DataFlash.h
View File

@ -96,6 +96,8 @@ public:
void StartNewLog(void);
void EnableWrites(bool enable);
void StopLogging();
void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
void Log_Write_RFND(const RangeFinder &rangefinder);

8
libraries/DataFlash/DataFlash_Backend.h
View File

@ -65,6 +65,14 @@ public:
virtual uint16_t start_new_log(void) = 0;
bool log_write_started;
/* stop logging - close output files etc etc.
*
* note that this doesn't stop logging from starting up again
* immediately - e.g. DataFlash_MAVLink might get another start
* packet from a client.
*/
virtual void stop_logging(void) = 0;
void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX

13
libraries/DataFlash/DataFlash_MAVLink.cpp
View File

@ -201,6 +201,14 @@ void DataFlash_MAVLink::free_all_blocks()
_latest_block_len = 0;
}
void DataFlash_MAVLink::stop_logging()
{
if (_sending_to_client) {
_sending_to_client = false;
_last_response_time = AP_HAL::millis();
}
}
void DataFlash_MAVLink::handle_ack(mavlink_channel_t chan,
mavlink_message_t* msg,
uint32_t seqno)
@ -210,10 +218,7 @@ void DataFlash_MAVLink::handle_ack(mavlink_channel_t chan,
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_STOP) {
Debug("Received stop-logging packet");
if (_sending_to_client) {
_sending_to_client = false;
_last_response_time = AP_HAL::millis();
}
stop_logging();
return;
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_START) {

2
libraries/DataFlash/DataFlash_MAVLink.h
View File

@ -36,6 +36,8 @@ public:
bool logging_started() { return _logging_started; }
void stop_logging();
/* Write a block of data at current offset */
bool WritePrioritisedBlock(const void *pBuffer, uint16_t size,
bool is_critical) override;