DataFlash: support multiple simultaneous backends

libraries/DataFlash/DFMessageWriter.cpp

@@ -1,7 +1,5 @@
 #include "DFMessageWriter.h"
 
-#include "DataFlash.h"
-
 extern const AP_HAL::HAL& hal;
 
 /* LogStartup - these are simple state machines which allow us to
@@ -35,13 +33,13 @@ void DFMessageWriter_DFLogStart::process()
 
     case ls_blockwriter_stage_formats:
         // write log formats so the log is self-describing
-        while (next_format_to_send < _DataFlash._num_types) {
+        while (next_format_to_send < _dataflash_backend->num_types()) {
-            if (!_DataFlash.Log_Write_Format(&_DataFlash._structures[next_format_to_send])) {
+            if (!_dataflash_backend->Log_Write_Format(_dataflash_backend->structure(next_format_to_send))) {
                 return; // call me again!
             }
             // provide hook to avoid corrupting the APM1/APM2
             // dataflash by writing too fast:
-            _DataFlash.WroteStartupFormat();
+            _dataflash_backend->WroteStartupFormat();
             next_format_to_send++;
         }
         _fmt_done = true;
@@ -50,11 +48,11 @@ void DFMessageWriter_DFLogStart::process()
 
     case ls_blockwriter_stage_parms:
         while (ap) {
-            if (!_DataFlash.Log_Write_Parameter(ap, token, type)) {
+            if (!_dataflash_backend->Log_Write_Parameter(ap, token, type)) {
                 return;
             }
             ap = AP_Param::next_scalar(&token, &type);
-            _DataFlash.WroteStartupParam();
+            _dataflash_backend->WroteStartupParam();
         }
 
         stage = ls_blockwriter_stage_sysinfo;
@@ -80,11 +78,11 @@ void DFMessageWriter_DFLogStart::process()
         // we guarantee 200 bytes of space for the vehicle startup
         // messages.  This allows them to be simple functions rather
         // than e.g. DFMessageWriter-based state machines
-        if (_DataFlash._vehicle_messages) {
+        if (_dataflash_backend->vehicle_message_writer()) {
-            if (_DataFlash.bufferspace_available() < 200) {
+            if (_dataflash_backend->bufferspace_available() < 200) {
                 return;
             }
-            _DataFlash._vehicle_messages();
+            (_dataflash_backend->vehicle_message_writer())();
         }
         stage = ls_blockwriter_stage_done;
         // fall through
@@ -116,7 +114,7 @@ void DFMessageWriter_WriteSysInfo::process() {
         // fall through
 
     case ws_blockwriter_stage_firmware_string:
-        if (! _DataFlash.Log_Write_Message(_firmware_string)) {
+        if (! _dataflash_backend->Log_Write_Message(_firmware_string)) {
             return; // call me again
         }
         stage = ws_blockwriter_stage_git_versions;
@@ -124,7 +122,7 @@ void DFMessageWriter_WriteSysInfo::process() {
 
     case ws_blockwriter_stage_git_versions:
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-        if (! _DataFlash.Log_Write_Message("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION)) {
+        if (! _dataflash_backend->Log_Write_Message("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION)) {
             return; // call me again
         }
 #endif
@@ -134,7 +132,7 @@ void DFMessageWriter_WriteSysInfo::process() {
     case ws_blockwriter_stage_system_id:
         char sysid[40];
         if (hal.util->get_system_id(sysid)) {
-            if (! _DataFlash.Log_Write_Message(sysid)) {
+            if (! _dataflash_backend->Log_Write_Message(sysid)) {
                 return; // call me again
             }
         }
@@ -163,7 +161,7 @@ void DFMessageWriter_WriteEntireMission::process() {
         // fall through
 
     case em_blockwriter_stage_write_new_mission_message:
-        if (! _DataFlash.Log_Write_Message("New mission")) {
+        if (! _dataflash_backend->Log_Write_Message("New mission")) {
             return; // call me again
         }
         stage = em_blockwriter_stage_write_mission_items;
@@ -175,7 +173,7 @@ void DFMessageWriter_WriteEntireMission::process() {
             // upon failure to write the mission we will re-read from
             // storage; this could be improved.
             if (_mission->read_cmd_from_storage(_mission_number_to_send,cmd)) {
-                if (!_DataFlash.Log_Write_Mission_Cmd(*_mission, cmd)) {
+                if (!_dataflash_backend->Log_Write_Mission_Cmd(*_mission, cmd)) {
                     return; // call me again
                 }
             }

libraries/DataFlash/DFMessageWriter.h

@@ -1,31 +1,31 @@
 #ifndef DF_LOGSTARTUP_H
 #define DF_LOGSTARTUP_H
 
-#include <AP_HAL/AP_HAL.h>
+#include "DataFlash_Backend.h"
-#include <AP_Mission/AP_Mission.h>
 
-class DataFlash_Class;
+#include <AP_Mission/AP_Mission.h>
 
 class DFMessageWriter {
 public:
-    DFMessageWriter(DataFlash_Class &DataFlash) :
-        _DataFlash(DataFlash) { }
 
     virtual void reset() = 0;
     virtual void process() = 0;
     virtual bool finished() { return _finished; };
 
+    virtual void set_dataflash_backend(class DataFlash_Backend *backend) {
+        _dataflash_backend = backend;
+    }
+
 protected:
     bool _finished = false;
-    DataFlash_Class &_DataFlash;
+    DataFlash_Backend *_dataflash_backend = nullptr;
 };
 
 
 class DFMessageWriter_WriteSysInfo : public DFMessageWriter {
 public:
-    DFMessageWriter_WriteSysInfo(DataFlash_Class &DataFlash,
+    DFMessageWriter_WriteSysInfo(const char *firmware_string) :
-                                 const char *firmware_string) :
+        DFMessageWriter(),
-        DFMessageWriter(DataFlash),
         _firmware_string(firmware_string)
         { }
 
@@ -39,16 +39,14 @@ private:
         ws_blockwriter_stage_git_versions,
         ws_blockwriter_stage_system_id
     };
-    write_sysinfo_blockwriter_stage stage;
+    write_sysinfo_blockwriter_stage stage = ws_blockwriter_stage_init;
 
     const char *_firmware_string;
 };
 
 class DFMessageWriter_WriteEntireMission : public DFMessageWriter {
 public:
-    DFMessageWriter_WriteEntireMission(DataFlash_Class &DataFlash) :
+
-        DFMessageWriter(DataFlash)
-        {}
     void reset();
     void process();
 
@@ -69,14 +67,18 @@ private:
 
 class DFMessageWriter_DFLogStart : public DFMessageWriter {
 public:
-    DFMessageWriter_DFLogStart(DataFlash_Class &DataFlash,
+    DFMessageWriter_DFLogStart(const char *firmware_string) :
-                               const char *firmware_string) :
+        _writesysinfo(firmware_string),
-        DFMessageWriter{DataFlash},
+        _writeentiremission()
-        _writesysinfo(DataFlash, firmware_string),
-        _writeentiremission(DataFlash)
         {
         }
 
+    virtual void set_dataflash_backend(class DataFlash_Backend *backend) {
+        DFMessageWriter::set_dataflash_backend(backend);
+        _writesysinfo.set_dataflash_backend(backend);
+        _writeentiremission.set_dataflash_backend(backend);
+    }
+
     void reset();
     void process();
     bool fmt_done() { return _fmt_done; };
@@ -97,7 +99,7 @@ private:
 
     bool _fmt_done = false;
 
-    log_start_blockwriter_stage stage;
+    log_start_blockwriter_stage stage = ls_blockwriter_stage_init;
 
     uint16_t next_format_to_send;
     AP_Param::ParamToken token;

libraries/DataFlash/DataFlash.cpp

@@ -2,113 +2,206 @@
 
 #include "DataFlash_Backend.h"
 
+const AP_Param::GroupInfo DataFlash_Class::var_info[] = {
+    // @Param: _BACKEND_TYPES
+    // @DisplayName: DataFlash Backend Storage type
+    // @Description: 0 for None, 1 for File
+    // @Values: 0:None,1:File
+    // @User: Standard
+    AP_GROUPINFO("_BACKEND_TYPE",  0, DataFlash_Class, _params.backend_types,       DATAFLASH_BACKEND_FILE),
+    AP_GROUPEND
+};
+
+const struct LogStructure *DataFlash_Class::structure(uint16_t num) const
+{
+    return &_structures[num];
+}
+
+
+#define FOR_EACH_BACKEND(methodcall)              \
+    do {                                          \
+        for (uint8_t i=0; i<_next_backend; i++) { \
+            backends[i]->methodcall;              \
+        }                                         \
+    } while (0)
+
 void DataFlash_Class::setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer)
 {
     _vehicle_messages = writer;
 }
 
 void DataFlash_Class::set_mission(const AP_Mission *mission) {
-    _startup_messagewriter.set_mission(mission);
+    FOR_EACH_BACKEND(set_mission(mission));
 }
 
 // start functions pass straight through to backend:
-bool DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size) {
+void DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size) {
-    return backend->WriteBlock(pBuffer, size);
+    FOR_EACH_BACKEND(WriteBlock(pBuffer, size));
 }
 
-bool DataFlash_Class::WriteCriticalBlock(const void *pBuffer, uint16_t size) {
+void DataFlash_Class::WriteCriticalBlock(const void *pBuffer, uint16_t size) {
-    return backend->WriteCriticalBlock(pBuffer, size);
+    FOR_EACH_BACKEND(WriteCriticalBlock(pBuffer, size));
 }
 
-bool DataFlash_Class::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) {
+void DataFlash_Class::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) {
-    return backend->WritePrioritisedBlock(pBuffer, size, is_critical);
+    FOR_EACH_BACKEND(WritePrioritisedBlock(pBuffer, size, is_critical));
-}
-
-uint16_t DataFlash_Class::start_new_log() {
-    return backend->start_new_log();
 }
 
 // change me to "DoTimeConsumingPreparations"?
 void DataFlash_Class::EraseAll() {
-    backend->EraseAll();
+    FOR_EACH_BACKEND(EraseAll());
 }
 // change me to "LoggingAvailable"?
 bool DataFlash_Class::CardInserted(void) {
-    return backend->CardInserted();
+    for (uint8_t i=0; i< _next_backend; i++) {
+        if (backends[i]->CardInserted()) {
+            return true;
+        }
+    }
+    return false;
 }
 
 bool DataFlash_Class::NeedPrep() {
-    return backend->NeedPrep();
+    for (uint8_t i=0; i< _next_backend; i++) {
+        if (backends[i]->NeedPrep()) {
+            return true;
+        }
+    }
+    return false;
 }
 
 void DataFlash_Class::Prep() {
-    backend->Prep();
+    FOR_EACH_BACKEND(Prep());
-}
-
-uint16_t DataFlash_Class::bufferspace_available(void) {
-    return backend->bufferspace_available();
 }
 
 uint16_t DataFlash_Class::find_last_log() const {
-    return backend->find_last_log();
+    if (_next_backend == 0) {
+        return 0;
+    }
+    return backends[0]->find_last_log();
 }
 void DataFlash_Class::get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) {
-    backend->get_log_boundaries(log_num, start_page, end_page);
+    if (_next_backend == 0) {
+        return;
+    }
+    backends[0]->get_log_boundaries(log_num, start_page, end_page);
 }
 void DataFlash_Class::get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) {
-    backend->get_log_info(log_num, size, time_utc);
+    if (_next_backend == 0) {
+        return;
+    }
+    backends[0]->get_log_info(log_num, size, time_utc);
 }
 int16_t DataFlash_Class::get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) {
-    return backend->get_log_data(log_num, page, offset, len, data);
+    if (_next_backend == 0) {
+        return 0;
+    }
+    return backends[0]->get_log_data(log_num, page, offset, len, data);
 }
 uint16_t DataFlash_Class::get_num_logs(void) {
-    return backend->get_num_logs();
+    if (_next_backend == 0) {
+        return 0;
+    }
+    return backends[0]->get_num_logs();
 }
 void DataFlash_Class::Log_Fill_Format(const struct LogStructure *s, struct log_Format &pkt) {
-    backend->Log_Fill_Format(s, pkt);
+    if (_next_backend == 0) {
+        // how were we called?!
+        return;
+    }
+    backends[0]->Log_Fill_Format(s, pkt);
 }
 
 void DataFlash_Class::LogReadProcess(uint16_t log_num,
                                      uint16_t start_page, uint16_t end_page,
                                      print_mode_fn printMode,
                                      AP_HAL::BetterStream *port) {
-    backend->LogReadProcess(log_num, start_page, end_page, printMode, port);
+    if (_next_backend == 0) {
+        // how were we called?!
+        return;
+    }
+    backends[0]->LogReadProcess(log_num, start_page, end_page, printMode, port);
 }
 void DataFlash_Class::DumpPageInfo(AP_HAL::BetterStream *port) {
-    backend->DumpPageInfo(port);
+    if (_next_backend == 0) {
+        // how were we called?!
+        return;
+    }
+    backends[0]->DumpPageInfo(port);
 }
 void DataFlash_Class::ShowDeviceInfo(AP_HAL::BetterStream *port) {
-    backend->ShowDeviceInfo(port);
+    if (_next_backend == 0) {
+        // how were we called?!
+        return;
+    }
+    backends[0]->ShowDeviceInfo(port);
 }
 void DataFlash_Class::ListAvailableLogs(AP_HAL::BetterStream *port) {
-    backend->ListAvailableLogs(port);
+    if (_next_backend == 0) {
+        // how were we called?!
+        return;
+    }
+    backends[0]->ListAvailableLogs(port);
 }
 
+/* we're started if any of the backends are started */
 bool DataFlash_Class::logging_started(void) {
-    return backend->log_write_started;
+    for (uint8_t i=0; i< _next_backend; i++) {
+        if (backends[i]->logging_started()) {
+            return true;
+        }
+    }
+    return false;
 }
 
 void DataFlash_Class::EnableWrites(bool enable) {
-    backend->EnableWrites(enable);
+    FOR_EACH_BACKEND(EnableWrites(enable));
 }
 
 void DataFlash_Class::periodic_tasks() {
-    backend->periodic_tasks();
+     FOR_EACH_BACKEND(periodic_tasks());
-}
-
-void DataFlash_Class::WroteStartupFormat() {
-    backend->WroteStartupFormat();
-}
-
-void DataFlash_Class::WroteStartupParam() {
-    backend->WroteStartupParam();
 }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     // currently only DataFlash_File support this:
 void DataFlash_Class::flush(void) {
-    backend->flush();
+     FOR_EACH_BACKEND(flush());
 }
 #endif
 
+
+void DataFlash_Class::Log_Write_EntireMission(const AP_Mission &mission)
+{
+    FOR_EACH_BACKEND(Log_Write_EntireMission(mission));
+}
+
+void DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
+{
+    FOR_EACH_BACKEND(Log_Write_Format(s));
+}
+
+void DataFlash_Class::Log_Write_Message(const char *message)
+{
+    FOR_EACH_BACKEND(Log_Write_Message(message));
+}
+
+void DataFlash_Class::Log_Write_Mode(uint8_t mode)
+{
+    FOR_EACH_BACKEND(Log_Write_Mode(mode));
+}
+
+void DataFlash_Class::Log_Write_Parameter(const char *name, float value)
+{
+    FOR_EACH_BACKEND(Log_Write_Parameter(name, value));
+}
+
+void DataFlash_Class::Log_Write_Mission_Cmd(const AP_Mission &mission,
+                                            const AP_Mission::Mission_Command &cmd)
+{
+    FOR_EACH_BACKEND(Log_Write_Mission_Cmd(mission, cmd));
+}
+
+
 // end functions pass straight through to backend
+
+#undef FOR_EACH_BACKEND

libraries/DataFlash/DataFlash.h

@@ -30,19 +30,24 @@
 #include "DFMessageWriter.h"
 
 class DataFlash_Backend;
-class DFMessageWriter;
+
+enum DataFlash_Backend_Type {
+    DATAFLASH_BACKEND_NONE = 0,
+    DATAFLASH_BACKEND_FILE = 1,
+};
 
 class DataFlash_Class
 {
-    friend class DFMessageWriter_DFLogStart; // for access to _num_types etc
+    friend class DataFlash_Backend; // for _num_types
 
 public:
     FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
     FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
     DataFlash_Class(const char *firmware_string) :
-        _startup_messagewriter(DFMessageWriter_DFLogStart(*this,firmware_string)),
+        _firmware_string(firmware_string)
-        _vehicle_messages(NULL)
+        {
-        { }
+            AP_Param::setup_object_defaults(this, var_info);
+        }
 
     void set_mission(const AP_Mission *mission);
 
@@ -59,9 +64,9 @@ public:
     void Prep();
 
     /* Write a block of data at current offset */
-    bool WriteBlock(const void *pBuffer, uint16_t size);
+    void WriteBlock(const void *pBuffer, uint16_t size);
     /* Write an *important* block of data at current offset */
-    bool WriteCriticalBlock(const void *pBuffer, uint16_t size);
+    void WriteCriticalBlock(const void *pBuffer, uint16_t size);
 
     // high level interface
     uint16_t find_last_log() const;
@@ -77,16 +82,14 @@ public:
     void ShowDeviceInfo(AP_HAL::BetterStream *port);
     void ListAvailableLogs(AP_HAL::BetterStream *port);
 
-    uint16_t bufferspace_available();
-
     void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer);
 
-    uint16_t StartNewLog(void);
+    void StartNewLog(void);
     void AddLogFormats(const struct LogStructure *structures, uint8_t num_types);
     void EnableWrites(bool enable);
     void Log_Write_SysInfo(const char *firmware_string);
-    bool Log_Write_Format(const struct LogStructure *structure);
+    void Log_Write_Format(const struct LogStructure *structure);
-    bool Log_Write_Parameter(const char *name, float value);
+    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);
     void Log_Write_IMU(const AP_InertialSensor &ins);
@@ -105,18 +108,18 @@ public:
 #endif
     bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
     void Log_Write_Radio(const mavlink_radio_t &packet);
-    bool Log_Write_Message(const char *message);
+    void Log_Write_Message(const char *message);
     void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
     void Log_Write_ESC(void);
     void Log_Write_Airspeed(AP_Airspeed &airspeed);
     void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
     void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle);
     void Log_Write_Compass(const Compass &compass);
-    bool Log_Write_Mode(uint8_t mode);
+    void Log_Write_Mode(uint8_t mode);
     void Log_Write_Parameters(void);
 
     void Log_Write_EntireMission(const AP_Mission &mission);
-    bool Log_Write_Mission_Cmd(const AP_Mission &mission,
+    void Log_Write_Mission_Cmd(const AP_Mission &mission,
                                const AP_Mission::Mission_Command &cmd);
     void Log_Write_Origin(uint8_t origin_type, const Location &loc);
     void Log_Write_RPM(const AP_RPM &rpm_sensor);
@@ -147,12 +150,18 @@ public:
     bool Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token, 
                              enum ap_var_type type);
 
-    DFMessageWriter_DFLogStart _startup_messagewriter;
     vehicle_startup_message_Log_Writer _vehicle_messages;
 
+    // parameter support
+    static const struct AP_Param::GroupInfo        var_info[];
+    struct {
+        AP_Int8 backend_types;
+    } _params;
+
+    const struct LogStructure *structure(uint16_t num) const;
+
 protected:
     void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
-    uint16_t start_new_log(void);
 
     void WroteStartupFormat();
     void WroteStartupParam();
@@ -163,11 +172,14 @@ protected:
     /* Write a block with specified importance */
     /* might be useful if you have a boolean indicating a message is
      * important... */
-    bool WritePrioritisedBlock(const void *pBuffer, uint16_t size,
+    void WritePrioritisedBlock(const void *pBuffer, uint16_t size,
                                bool is_critical);
 
 private:
-    DataFlash_Backend *backend;
+    #define DATAFLASH_MAX_BACKENDS 2
+    uint8_t _next_backend;
+    DataFlash_Backend *backends[DATAFLASH_MAX_BACKENDS];
+    const char *_firmware_string;
 };
 
 #endif

libraries/DataFlash/DataFlash_Backend.cpp

@@ -4,6 +4,28 @@
 
 extern const AP_HAL::HAL& hal;
 
+DataFlash_Backend::DataFlash_Backend(DataFlash_Class &front,
+                                     class DFMessageWriter_DFLogStart *writer) :
+    _front(front),
+    _startup_messagewriter(writer)
+{
+    writer->set_dataflash_backend(this);
+}
+
+uint8_t DataFlash_Backend::num_types() const
+{
+    return _front._num_types;
+}
+
+const struct LogStructure *DataFlash_Backend::structure(uint8_t num) const
+{
+    return _front.structure(num);
+}
+
+DataFlash_Backend::vehicle_startup_message_Log_Writer DataFlash_Backend::vehicle_message_writer() {
+    return _front._vehicle_messages;
+}
+
 void DataFlash_Backend::periodic_10Hz(const uint32_t now)
 {
 }
@@ -36,6 +58,10 @@ void DataFlash_Backend::internal_error() {
 #endif
 }
 
+void DataFlash_Backend::set_mission(const AP_Mission *mission) {
+    _startup_messagewriter->set_mission(mission);
+}
+
 // this method can be overridden to do extra things with your buffer.
 // for example, in DataFlash_MAVLink we may push messages into the UART.
 void DataFlash_Backend::push_log_blocks() {
@@ -46,7 +72,7 @@ void DataFlash_Backend::push_log_blocks() {
 // for other messages to go out to the log
 bool DataFlash_Backend::WriteBlockCheckStartupMessages()
 {
-    if (_front._startup_messagewriter.fmt_done()) {
+    if (_startup_messagewriter->fmt_done()) {
         return true;
     }
 
@@ -59,7 +85,7 @@ bool DataFlash_Backend::WriteBlockCheckStartupMessages()
     // caller hoping to write blocks out.  Push out log blocks - we
     // might end up clearing the buffer.....
     push_log_blocks();
-    if (_front._startup_messagewriter.fmt_done()) {
+    if (_startup_messagewriter->fmt_done()) {
         return true;
     }
 
@@ -71,11 +97,11 @@ bool DataFlash_Backend::WriteBlockCheckStartupMessages()
 void DataFlash_Backend::WriteMoreStartupMessages()
 {
 
-    if (_front._startup_messagewriter.finished()) {
+    if (_startup_messagewriter->finished()) {
         return;
     }
 
     _writing_startup_messages = true;
-    _front._startup_messagewriter.process();
+    _startup_messagewriter->process();
     _writing_startup_messages = false;
 }

libraries/DataFlash/DataFlash_Backend.h

@@ -3,19 +3,19 @@
 
 #include "DataFlash.h"
 
+class DFMessageWriter_DFLogStart;
+
 class DataFlash_Backend
 {
+
 public:
     FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
+    FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
 
-    DataFlash_Backend(DataFlash_Class &front) :
+    DataFlash_Backend(DataFlash_Class &front,
-        _front(front),
+                      class DFMessageWriter_DFLogStart *writer);
-        _writing_startup_messages(false),
+
-        _internal_errors(0),
+    vehicle_startup_message_Log_Writer vehicle_message_writer();
-        _dropped(0),
-        _last_periodic_1Hz(0),
-        _last_periodic_10Hz(0)
-        { }
 
     void internal_error();
 
@@ -58,12 +58,12 @@ public:
     // initialisation this really shouldn't take structure and
     // num_types, however the CLI LogReadProcess function requires it.
     // That function needs to be split.
-    virtual void Init(const struct LogStructure *structure, uint8_t num_types) {
+    virtual void Init() {
         _writes_enabled = true;
-        _num_types = num_types;
-        _structures = structure;
     }
 
+    void set_mission(const AP_Mission *mission);
+
     virtual uint16_t bufferspace_available() = 0;
 
     virtual uint16_t start_new_log(void) = 0;
@@ -76,12 +76,30 @@ public:
     virtual void flush(void) { }
 #endif
 
-    virtual void periodic_tasks();
+   virtual void periodic_tasks();
+
+    uint8_t num_types() const;
+    const struct LogStructure *structure(uint8_t structure) const;
 
     virtual void WroteStartupFormat() { }
     virtual void WroteStartupParam() { }
 
+    void Log_Write_EntireMission(const AP_Mission &mission);
+    bool Log_Write_Format(const struct LogStructure *structure);
+    bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
+    bool Log_Write_Message(const char *message);
+    bool Log_Write_Mission_Cmd(const AP_Mission &mission,
+                               const AP_Mission::Mission_Command &cmd);
+    bool Log_Write_Mode(uint8_t mode);;
+    bool Log_Write_Parameter(const char *name, float value);
+    bool Log_Write_Parameter(const AP_Param *ap,
+                             const AP_Param::ParamToken &token,
+                             enum ap_var_type type);
+
 protected:
+    uint32_t dropped;
+    uint8_t internal_errors; // uint8_t - wishful thinking?
+
     DataFlash_Class &_front;
 
     virtual void periodic_10Hz(const uint32_t now);
@@ -95,8 +113,6 @@ protected:
                           print_mode_fn print_mode,
                           AP_HAL::BetterStream *port);
 
-    const struct LogStructure *_structures;
-    uint8_t _num_types = 0;
     bool _writes_enabled = false;
 
     /*
@@ -107,11 +123,15 @@ protected:
     virtual bool WriteBlockCheckStartupMessages();
     virtual void WriteMoreStartupMessages();
     virtual void push_log_blocks();
-    bool _writing_startup_messages = false;
+
+    DFMessageWriter_DFLogStart *_startup_messagewriter;
+    bool _writing_startup_messages;
 
     uint32_t _internal_errors;
     uint32_t _dropped;
+
 private:
+
     uint32_t _last_periodic_1Hz;
     uint32_t _last_periodic_10Hz;
 };

libraries/DataFlash/DataFlash_Block.cpp

@@ -271,12 +271,12 @@ int16_t DataFlash_Block::get_log_data(uint16_t log_num, uint16_t page, uint32_t
     if (adding_fmt_headers) {
         // the log doesn't start with a FMT message, we need to add
         // them
-        const uint16_t fmt_header_size = _num_types * sizeof(struct log_Format);
+        const uint16_t fmt_header_size = num_types() * sizeof(struct log_Format);
         while (offset < fmt_header_size && len > 0) {
             struct log_Format pkt;
             uint8_t t = offset / sizeof(pkt);
             uint8_t ofs = offset % sizeof(pkt);
-            Log_Fill_Format(&_structures[t], pkt);
+            Log_Fill_Format(structure(t), pkt);
             uint8_t n = sizeof(pkt) - ofs;
             if (n > len) {
                 n = len;

libraries/DataFlash/DataFlash_Block.h

@@ -14,8 +14,8 @@
 class DataFlash_Block : public DataFlash_Backend
 {
 public:
-    DataFlash_Block(DataFlash_Class &front) :
+    DataFlash_Block(DataFlash_Class &front, DFMessageWriter_DFLogStart *writer) :
-        DataFlash_Backend(front) { }
+        DataFlash_Backend(front, writer) { }
 
     // initialisation
     virtual void Init(const struct LogStructure *structure, uint8_t num_types) = 0;
@@ -125,7 +125,6 @@ protected:
 
 
 #include "DataFlash_SITL.h"
-#include "DataFlash_Empty.h"
 
 #endif // DataFlash_block_h
 

libraries/DataFlash/DataFlash_Empty.cpp

@@ -1,83 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-/*
-  hacked up DataFlash library for Desktop support
-*/
-
-#include "DataFlash_Empty.h"
-#define DF_PAGE_SIZE 512
-#define DF_NUM_PAGES 4096
-
-// Public Methods //////////////////////////////////////////////////////////////
-void DataFlash_Empty::Init(const struct LogStructure *structure, uint8_t num_types)
-{
-    DataFlash_Backend::Init(structure, num_types);
-	df_PageSize = DF_PAGE_SIZE;
-    // reserve last page for config information
-    df_NumPages   = DF_NUM_PAGES - 1;
-}
-
-// This function is mainly to test the device
-void DataFlash_Empty::ReadManufacturerID()
-{
-	df_manufacturer = 1;
-	df_device = 0x0203;
-}
-
-bool DataFlash_Empty::CardInserted(void)
-{
-    return true;
-}
-
-// Read the status register
-uint8_t DataFlash_Empty::ReadStatusReg()
-{
-	return 0;
-}
-
-// Read the status of the DataFlash
-inline
-uint8_t DataFlash_Empty::ReadStatus()
-{
-	return 1;
-}
-
-
-inline uint16_t DataFlash_Empty::PageSize()
-{ return 0; }
-
-
-// Wait until DataFlash is in ready state...
-void DataFlash_Empty::WaitReady()
-{ }
-
-void DataFlash_Empty::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
-{ }
-
-void DataFlash_Empty::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
-{ }
-
-void DataFlash_Empty::BufferWrite (unsigned char BufferNum,
-        uint16_t IntPageAdr, unsigned char Data)
-{ }
-
-void DataFlash_Empty::BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, 
-                    const void *pHeader, uint8_t hdr_size,
-                    const void *pBuffer, uint16_t size)
-{ }
-
-bool DataFlash_Empty::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr,
-        void *pBuffer, uint16_t size)
-{ 
-    memset(pBuffer, 0, size);
-    return false; 
-}
-
-// *** END OF INTERNAL FUNCTIONS ***
-
-void DataFlash_Empty::PageErase (uint16_t PageAdr) { }
-
-void DataFlash_Empty::BlockErase (uint16_t BlockAdr) { }
-
-void DataFlash_Empty::ChipErase() { }
-
-

libraries/DataFlash/DataFlash_Empty.h

@@ -1,40 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/* ************************************************************ */
-/* DataFlash_EMPTY Log library                                 */
-/* ************************************************************ */
-#ifndef __DATAFLASH_EMPTY_H__
-#define __DATAFLASH_EMPTY_H__
-
-#include <AP_HAL/AP_HAL.h>
-#include "DataFlash_Block.h"
-
-class DataFlash_Empty : public DataFlash_Block
-{
-private:
-    //Methods
-    void              BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data);
-    void              BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait);
-    void              PageToBuffer(uint8_t BufferNum, uint16_t PageAdr);
-    void              WaitReady();
-    uint8_t           ReadStatusReg();
-    uint8_t           ReadStatus();
-    uint16_t          PageSize();
-    void              PageErase (uint16_t PageAdr);
-    void              BlockErase (uint16_t BlockAdr);
-    void              ChipErase();
-    
-    void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, 
-                    const void *pHeader, uint8_t hdr_size,
-                    const void *pBuffer, uint16_t size);
-    bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size);
-
-public:
-    DataFlash_Empty(DataFlash_Class &front) :
-        DataFlash_Block(front) { }
-    void        Init(const struct LogStructure *structure, uint8_t num_types);
-    void        ReadManufacturerID();
-    bool        CardInserted();
-};
-
-#endif // __DATAFLASH_EMPTY_H__

libraries/DataFlash/DataFlash_File.cpp

@@ -46,8 +46,10 @@ extern const AP_HAL::HAL& hal;
 /*
   constructor
  */
-DataFlash_File::DataFlash_File(DataFlash_Class &front, const char *log_directory) :
+DataFlash_File::DataFlash_File(DataFlash_Class &front,
-    DataFlash_Backend(front),
+                               DFMessageWriter_DFLogStart *writer,
+                               const char *log_directory) :
+    DataFlash_Backend(front, writer),
     _write_fd(-1),
     _read_fd(-1),
     _read_fd_log_num(0),
@@ -88,9 +90,9 @@ DataFlash_File::DataFlash_File(DataFlash_Class &front, const char *log_directory
 
 
 // initialisation
-void DataFlash_File::Init(const struct LogStructure *structure, uint8_t num_types)
+void DataFlash_File::Init()
 {
-    DataFlash_Backend::Init(structure, num_types);
+    DataFlash_Backend::Init();
     // create the log directory if need be
     int ret;
     struct stat st;
@@ -435,7 +437,7 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
     uint16_t space = BUF_SPACE(_writebuf);
 
     if (_writing_startup_messages &&
-        _front._startup_messagewriter.fmt_done()) {
+        _startup_messagewriter->fmt_done()) {
         // the state machine has called us, and it has finished
         // writing format messages out.  It can always get back to us
         // with more messages later, so let's leave room for other
@@ -727,6 +729,8 @@ uint16_t DataFlash_File::start_new_log(void)
 {
     stop_logging();
 
+    _startup_messagewriter->reset();
+
     if (_open_error) {
         // we have previously failed to open a file - don't try again
         // to prevent us trying to open files while in flight

libraries/DataFlash/DataFlash_File.h

@@ -18,10 +18,12 @@ class DataFlash_File : public DataFlash_Backend
 {
 public:
     // constructor
-    DataFlash_File(DataFlash_Class &front, const char *log_directory);
+    DataFlash_File(DataFlash_Class &front,
+                   DFMessageWriter_DFLogStart *,
+                   const char *log_directory);
 
     // initialisation
-    void Init(const struct LogStructure *structure, uint8_t num_types);
+    void Init() override;
     bool CardInserted(void);
 
     // erase handling
@@ -41,7 +43,7 @@ public:
     void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
     int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
     uint16_t get_num_logs() override;
-    uint16_t start_new_log(void);
+    uint16_t start_new_log(void) override;
     void LogReadProcess(const uint16_t log_num,
                         uint16_t start_page, uint16_t end_page, 
                         print_mode_fn print_mode,
@@ -70,7 +72,7 @@ private:
     /*
       read a block
     */
-    bool ReadBlock(void *pkt, uint16_t size);
+    bool ReadBlock(void *pkt, uint16_t size) override;
 
     uint16_t _log_num_from_list_entry(const uint16_t list_entry);
 

libraries/DataFlash/DataFlash_SITL.cpp

@@ -28,9 +28,9 @@ static int flash_fd;
 static uint8_t buffer[2][DF_PAGE_SIZE];
 
 // Public Methods //////////////////////////////////////////////////////////////
-void DataFlash_SITL::Init(const struct LogStructure *structure, uint8_t num_types)
+void DataFlash_SITL::Init()
 {
-    DataFlash_Backend::Init(structure, num_types);
+    DataFlash_Backend::Init();
 	if (flash_fd == 0) {
 		flash_fd = open("dataflash.bin", O_RDWR, 0777);
 		if (flash_fd == -1) {

libraries/DataFlash/DataFlash_SITL.h

@@ -40,9 +40,9 @@ private:
     AP_HAL::SPIDeviceDriver *_spi;
     AP_HAL::Semaphore *_spi_sem;
 public:
-    DataFlash_SITL(DataFlash_Class &front) :
+    DataFlash_SITL(DataFlash_Class &front, DFMessageWriter_DFLogStart *writer) :
-        DataFlash_Block(front) { }
+        DataFlash_Block(front, writer) { }
-    void        Init(const struct LogStructure *structure, uint8_t num_types);
+    void        Init() override;
     void        ReadManufacturerID();
     bool        CardInserted();
 };

libraries/DataFlash/LogFile.cpp

@@ -13,28 +13,43 @@
 
 #include "DataFlash.h"
 #include "DataFlash_SITL.h"
+#include "DataFlash_Block.h"
 #include "DataFlash_File.h"
-#include "DataFlash_Empty.h"
 #include "DFMessageWriter.h"
 
 extern const AP_HAL::HAL& hal;
 
-void DataFlash_Class::Init(const struct LogStructure *structure, uint8_t num_types)
+void DataFlash_Class::Init(const struct LogStructure *structures, uint8_t num_types)
 {
-    _num_types = num_types;
+    if (_next_backend == DATAFLASH_MAX_BACKENDS) {
-    _structures = structure;
+        hal.scheduler->panic("Too many backends");
-
+        return;
-    // DataFlash
+    }
-#if defined(HAL_BOARD_LOG_DIRECTORY)
+    _num_types = num_types;
-    backend = new DataFlash_File(*this, HAL_BOARD_LOG_DIRECTORY);
+    _structures = structures;
-#else
+
-    // no dataflash driver
+    ;
-    backend = new DataFlash_Empty(*this);
+#if defined(HAL_BOARD_LOG_DIRECTORY)
-#endif
+    if (_params.backend_types == DATAFLASH_BACKEND_FILE ||
-    if (backend == NULL) {
+        _params.backend_types == DATAFLASH_BACKEND_BOTH) {
-        AP_HAL::panic("Unable to open dataflash");
+        DFMessageWriter_DFLogStart *message_writer =
+            new DFMessageWriter_DFLogStart(_firmware_string);
+        if (message_writer != NULL)  {
+            backends[_next_backend] = new DataFlash_File(*this,
+                                                         message_writer,
+                                                         HAL_BOARD_LOG_DIRECTORY);
+        }
+        if (backends[_next_backend] == NULL) {
+            hal.console->printf("Unable to open DataFlash_File");
+        } else {
+            _next_backend++;
+        }
+    }
+#endif
+
+    for (uint8_t i=0; i<_next_backend; i++) {
+        backends[i]->Init();
     }
-    backend->Init(structure, num_types);
 }
 
 // This function determines the number of whole or partial log files in the DataFlash
@@ -75,6 +90,8 @@ uint16_t DataFlash_Block::get_num_logs(void)
 // This function starts a new log file in the DataFlash
 uint16_t DataFlash_Block::start_new_log(void)
 {
+    _startup_messagewriter->reset();
+
     uint16_t last_page = find_last_page();
 
     StartRead(last_page);
@@ -292,30 +309,30 @@ uint16_t DataFlash_Block::find_last_page_of_log(uint16_t log_number)
 
 /*
   read and print a log entry using the format strings from the given structure
-  - this really should in in the frontend, not the backend
  */
 void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
                                          print_mode_fn print_mode,
                                          AP_HAL::BetterStream *port)
 {
     uint8_t i;
-    for (i=0; i<_num_types; i++) {
+    for (i=0; i<num_types(); i++) {
-        if (msg_type == PGM_UINT8(&_structures[i].msg_type)) {
+        if (msg_type == structure(i)->msg_type) {
             break;
         }
     }
-    if (i == _num_types) {
+    if (i == num_types()) {
         port->printf("UNKN, %u\n", (unsigned)msg_type);
         return;
     }
-    uint8_t msg_len = PGM_UINT8(&_structures[i].msg_len) - 3;
+    const struct LogStructure *log_structure = structure(i);
+    uint8_t msg_len = log_structure->msg_len - 3;
     uint8_t pkt[msg_len];
     if (!ReadBlock(pkt, msg_len)) {
         return;
     }
-    port->printf("%s, ", _structures[i].name);
+    port->printf("%s, ", log_structure->name);
     for (uint8_t ofs=0, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
-        char fmt = PGM_UINT8(&_structures[i].format[fmt_ofs]);
+        char fmt = log_structure->format[fmt_ofs];
         switch (fmt) {
         case 'b': {
             port->printf("%d", (int)pkt[ofs]);
@@ -469,8 +486,8 @@ void DataFlash_Backend::_print_log_entry(uint8_t msg_type,
  */
 void DataFlash_Block::_print_log_formats(AP_HAL::BetterStream *port)
 {
-    for (uint8_t i=0; i<_num_types; i++) {
+    for (uint8_t i=0; i<num_types(); i++) {
-        const struct LogStructure *s = &_structures[i];
+        const struct LogStructure *s = structure(i);
         port->printf("FMT, %u, %u, %s, %s, %s\n",
                        (unsigned)PGM_UINT8(&s->msg_type),
                        (unsigned)PGM_UINT8(&s->msg_len),
@@ -603,19 +620,11 @@ void DataFlash_Block::ListAvailableLogs(AP_HAL::BetterStream *port)
 
 // This function starts a new log file in the DataFlash, and writes
 // the format of supported messages in the log
-uint16_t DataFlash_Class::StartNewLog(void)
+void DataFlash_Class::StartNewLog(void)
 {
-    uint16_t ret;
+    for (uint8_t i=0; i<_next_backend; i++) {
-
+        backends[i]->start_new_log();
-    ret = start_new_log();
-    if (ret == 0xFFFF) {
-        // don't write out formats if we fail to open the log
-        return ret;
     }
-
-    _startup_messagewriter.reset();
-
-    return ret;
 }
 
 // add new logging formats to the log. Used by libraries that want to
@@ -647,7 +656,7 @@ void DataFlash_Backend::Log_Fill_Format(const struct LogStructure *s, struct log
 /*
   write a structure format to the log
  */
-bool DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
+bool DataFlash_Backend::Log_Write_Format(const struct LogStructure *s)
 {
     struct log_Format pkt;
     Log_Fill_Format(s, pkt);
@@ -657,7 +666,7 @@ bool DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
 /*
   write a parameter to the log
  */
-bool DataFlash_Class::Log_Write_Parameter(const char *name, float value)
+bool DataFlash_Backend::Log_Write_Parameter(const char *name, float value)
 {
     struct log_Parameter pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
@@ -672,9 +681,9 @@ bool DataFlash_Class::Log_Write_Parameter(const char *name, float value)
 /*
   write a parameter to the log
  */
-bool DataFlash_Class::Log_Write_Parameter(const AP_Param *ap,
+bool DataFlash_Backend::Log_Write_Parameter(const AP_Param *ap,
-                                          const AP_Param::ParamToken &token,
+                                            const AP_Param::ParamToken &token,
-                                          enum ap_var_type type)
+                                            enum ap_var_type type)
 {
     char name[16];
     ap->copy_name_token(token, &name[0], sizeof(name), true);
@@ -1026,23 +1035,24 @@ void DataFlash_Class::Log_Write_SysInfo(const char *firmware_string)
 }
 
 // Write a mission command. Total length : 36 bytes
-bool DataFlash_Class::Log_Write_Mission_Cmd(const AP_Mission &mission,
+bool DataFlash_Backend::Log_Write_Mission_Cmd(const AP_Mission &mission,
-                                            const AP_Mission::Mission_Command &cmd)
+                                              const AP_Mission::Mission_Command &cmd)
 {
     mavlink_mission_item_t mav_cmd = {};
     AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
     return Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-void DataFlash_Class::Log_Write_EntireMission(const AP_Mission &mission)
+void DataFlash_Backend::Log_Write_EntireMission(const AP_Mission &mission)
 {
-    DFMessageWriter_WriteEntireMission writer(*this);
+    DFMessageWriter_WriteEntireMission writer;
+    writer.set_dataflash_backend(this);
     writer.set_mission(&mission);
     writer.process();
 }
 
 // Write a text message to the log
-bool DataFlash_Class::Log_Write_Message(const char *message)
+bool DataFlash_Backend::Log_Write_Message(const char *message)
 {
     struct log_Message pkt = {
         LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
@@ -1521,7 +1531,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
 #endif
 
 // Write a command processing packet
-bool DataFlash_Class::Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd)
+bool DataFlash_Backend::Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd)
 {
     struct log_Cmd pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
@@ -1685,7 +1695,7 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
 }
 
 // Write a mode packet.
-bool DataFlash_Class::Log_Write_Mode(uint8_t mode)
+bool DataFlash_Backend::Log_Write_Mode(uint8_t mode)
 {
     struct log_Mode pkt = {
         LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),