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DataFlash: handle knowledge of in_log_download in DataFlash

This commit is contained in:
Peter Barker 2017-06-20 11:52:47 +10:00 committed by Francisco Ferreira
parent 60ebd099bd
commit ad17709390
3 changed files with 27 additions and 0 deletions
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3
libraries/DataFlash/DataFlash.cpp
View File

@ -312,6 +312,9 @@ bool DataFlash_Class::should_log() const
if (!vehicle_is_armed() && !log_while_disarmed()) { if (!vehicle_is_armed() && !log_while_disarmed()) {
return false; return false;
} }
if (in_log_download()) {
return false;
}
if (_next_backend == 0) { if (_next_backend == 0) {
return false; return false;
} }

5
libraries/DataFlash/DataFlash.h
View File

@ -213,6 +213,7 @@ public:
bool vehicle_is_armed() const { return _armed; } bool vehicle_is_armed() const { return _armed; }
void handle_log_send(class GCS_MAVLINK &); void handle_log_send(class GCS_MAVLINK &);
bool in_log_download() const { return _in_log_download; }
protected: protected:
@ -294,6 +295,9 @@ private:
uint8_t _log_listing:1; // sending log list uint8_t _log_listing:1; // sending log list
uint8_t _log_sending:1; // sending log data uint8_t _log_sending:1; // sending log data
// bolean replicating old vehicle in_log_download flag:
bool _in_log_download:1;
// next log list entry to send // next log list entry to send
uint16_t _log_next_list_entry; uint16_t _log_next_list_entry;
@ -318,6 +322,7 @@ private:
// start page of log data // start page of log data
uint16_t _log_data_page; uint16_t _log_data_page;
bool should_handle_log_message();
void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_list(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_request_list(class GCS_MAVLINK &, mavlink_message_t *msg);

19
libraries/DataFlash/DataFlash_MAVLinkLogTransfer.cpp
View File

@ -24,11 +24,27 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// We avoid doing log messages when timing is critical:
bool DataFlash_Class::should_handle_log_message()
{
if (!WritesEnabled()) {
// this is currently used as a proxy for "in_mavlink_delay"
return false;
}
if (vehicle_is_armed()) {
return false;
}
return true;
}
/** /**
handle all types of log download requests from the GCS handle all types of log download requests from the GCS
*/ */
void DataFlash_Class::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg) void DataFlash_Class::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg)
{ {
if (!should_handle_log_message()) {
return;
}
switch (msg->msgid) { switch (msg->msgid) {
case MAVLINK_MSG_ID_LOG_REQUEST_LIST: case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
handle_log_request_list(link, msg); handle_log_request_list(link, msg);
@ -85,6 +101,8 @@ void DataFlash_Class::handle_log_request_data(GCS_MAVLINK &link, mavlink_message
mavlink_log_request_data_t packet; mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet); mavlink_msg_log_request_data_decode(msg, &packet);
_in_log_download = true;
_log_listing = false; _log_listing = false;
if (!_log_sending || _log_num_data != packet.id) { if (!_log_sending || _log_num_data != packet.id) {
_log_sending = false; _log_sending = false;
@ -135,6 +153,7 @@ void DataFlash_Class::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_
{ {
mavlink_log_request_end_t packet; mavlink_log_request_end_t packet;
mavlink_msg_log_request_end_decode(msg, &packet); mavlink_msg_log_request_end_decode(msg, &packet);
_in_log_download = false;
_log_sending = false; _log_sending = false;
} }