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AP_Logger: keep pointer to link rather than using its ->chan

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This commit is contained in:
Peter Barker 2019-08-01 10:08:23 +10:00 committed by Peter Barker
parent 1ee03a0d2e
commit 8e6cde25dc
4 changed files with 22 additions and 14 deletions
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2
libraries/AP_Logger/AP_Logger.cpp
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@ -727,7 +727,7 @@ void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, const mavlink_message_t &m
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg));
FOR_EACH_BACKEND(remote_log_block_status_msg(link, msg));
break;
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
FALLTHROUGH;

2
libraries/AP_Logger/AP_Logger_Backend.h
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@ -72,7 +72,7 @@ public:
#endif
// for Logger_MAVlink
virtual void remote_log_block_status_msg(const mavlink_channel_t chan,
virtual void remote_log_block_status_msg(const GCS_MAVLINK &link,
const mavlink_message_t &msg) { }
// end for Logger_MAVlink

25
libraries/AP_Logger/AP_Logger_MAVLink.cpp
View File

@ -220,7 +220,7 @@ void AP_Logger_MAVLink::stop_logging()
}
}
void AP_Logger_MAVLink::handle_ack(const mavlink_channel_t chan,
void AP_Logger_MAVLink::handle_ack(const GCS_MAVLINK &link,
const mavlink_message_t &msg,
uint32_t seqno)
{
@ -245,7 +245,7 @@ void AP_Logger_MAVLink::handle_ack(const mavlink_channel_t chan,
_sending_to_client = true;
_target_system_id = msg.sysid;
_target_component_id = msg.compid;
_chan = chan;
_link = &link;
_next_seq_num = 0;
start_new_log_reset_variables();
_last_response_time = AP_HAL::millis();
@ -266,7 +266,7 @@ void AP_Logger_MAVLink::handle_ack(const mavlink_channel_t chan,
}
}
void AP_Logger_MAVLink::remote_log_block_status_msg(const mavlink_channel_t chan,
void AP_Logger_MAVLink::remote_log_block_status_msg(const GCS_MAVLINK &link,
const mavlink_message_t& msg)
{
mavlink_remote_log_block_status_t packet;
@ -277,7 +277,7 @@ void AP_Logger_MAVLink::remote_log_block_status_msg(const mavlink_channel_t chan
if(packet.status == 0){
handle_retry(packet.seqno);
} else{
handle_ack(chan, msg, packet.seqno);
handle_ack(link, msg, packet.seqno);
}
semaphore.give();
}
@ -537,17 +537,24 @@ void AP_Logger_MAVLink::periodic_1Hz()
//TODO: handle full txspace properly
bool AP_Logger_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (!HAVE_PAYLOAD_SPACE(chan, REMOTE_LOG_DATA_BLOCK)) {
if (_link == nullptr) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return false;
}
if (comm_get_txspace(chan) < 500) {
// don't completely fill buffers - and also ensure there's enough
// room to send at least one packet:
const uint16_t min_payload_space = 500;
static_assert(MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK_LEN <= min_payload_space,
"minimum allocated space is less than payload length");
if (_link->txspace() < min_payload_space) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// deliberately fail 10% of the time in SITL:
if (rand() < 0.1) {
return false;
}
@ -561,7 +568,7 @@ bool AP_Logger_MAVLink::send_log_block(struct dm_block &block)
hal.util->perf_begin(_perf_packing);
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
mavlink_status_t *chan_status = mavlink_get_channel_status(_link->get_chan());
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
@ -587,7 +594,7 @@ bool AP_Logger_MAVLink::send_log_block(struct dm_block &block)
// problem and stop attempting to log
_last_send_time = AP_HAL::millis();
_mavlink_resend_uart(chan, &msg);
_mavlink_resend_uart(_link->get_chan(), &msg);
return true;
}

7
libraries/AP_Logger/AP_Logger_MAVLink.h
View File

@ -59,7 +59,7 @@ public:
int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) override { return 0; }
uint16_t get_num_logs(void) override { return 0; }
void remote_log_block_status_msg(const mavlink_channel_t chan, const mavlink_message_t& msg) override;
void remote_log_block_status_msg(const GCS_MAVLINK &link, const mavlink_message_t& msg) override;
void vehicle_was_disarmed() override {}
protected:
@ -76,7 +76,7 @@ private:
struct dm_block *next;
};
bool send_log_block(struct dm_block &block);
void handle_ack(const mavlink_channel_t chan, const mavlink_message_t &msg, uint32_t seqno);
void handle_ack(const GCS_MAVLINK &link, const mavlink_message_t &msg, uint32_t seqno);
void handle_retry(uint32_t block_num);
void do_resends(uint32_t now);
void free_all_blocks();
@ -123,7 +123,8 @@ private:
bool logging_enabled() const override { return true; }
bool logging_failed() const override;
mavlink_channel_t _chan;
const GCS_MAVLINK *_link;
uint8_t _target_system_id;
uint8_t _target_component_id;