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DataFlash: move log-transfer state variables into enumerated variable

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This commit is contained in:
Peter Barker 2018-06-20 10:13:22 +10:00 committed by Andrew Tridgell
parent 4c2925d693
commit fc378eeae1
2 changed files with 38 additions and 28 deletions
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16
libraries/DataFlash/DataFlash.h
View File

@ -216,7 +216,7 @@ public:
bool vehicle_is_armed() const { return _armed; }
void handle_log_send();
bool in_log_download() const { return _in_log_download; }
bool in_log_download() const { return transfer_activity != IDLE; }
float quiet_nanf() const { return nanf("0x4152"); } // "AR"
double quiet_nan() const { return nan("0x4152445550490a"); } // "ARDUPI"
@ -332,11 +332,12 @@ private:
bool _writes_enabled:1;
/* support for retrieving logs via mavlink: */
uint8_t _log_listing:1; // sending log list
uint8_t _log_sending:1; // sending log data
// bolean replicating old vehicle in_log_download flag:
bool _in_log_download:1;
enum transfer_activity_t : uint8_t {
IDLE, // not doing anything, all file descriptors closed
LISTING, // actively sending log_entry packets
SENDING, // actively sending log_sending packets
} transfer_activity = IDLE;
// next log list entry to send
uint16_t _log_next_list_entry;
@ -371,8 +372,9 @@ private:
void handle_log_request_data(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_erase(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_end(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_send_listing();
bool handle_log_send_data();
void handle_log_send_listing(); // handle LISTING state
void handle_log_sending(); // handle SENDING state
bool handle_log_send_data(); // send data chunk to client
void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);

50
libraries/DataFlash/DataFlash_MAVLinkLogTransfer.cpp
View File

@ -74,9 +74,6 @@ void DataFlash_Class::handle_log_request_list(GCS_MAVLINK &link, mavlink_message
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
_log_listing = false;
_log_sending = false;
_log_num_logs = get_num_logs();
if (_log_num_logs == 0) {
_log_next_list_entry = 0;
@ -93,8 +90,9 @@ void DataFlash_Class::handle_log_request_list(GCS_MAVLINK &link, mavlink_message
}
}
_log_listing = true;
transfer_activity = LISTING;
_log_sending_link = &link;
handle_log_send_listing();
}
@ -118,14 +116,13 @@ void DataFlash_Class::handle_log_request_data(GCS_MAVLINK &link, mavlink_message
mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet);
_in_log_download = true;
_log_listing = false;
if (!_log_sending || _log_num_data != packet.id) {
_log_sending = false;
// consider opening or switching logs:
if (transfer_activity != SENDING || _log_num_data != packet.id) {
uint16_t num_logs = get_num_logs();
if (packet.id > num_logs || packet.id < 1) {
// request for an invalid log; cancel any current download
transfer_activity = IDLE;
return;
}
@ -147,7 +144,8 @@ void DataFlash_Class::handle_log_request_data(GCS_MAVLINK &link, mavlink_message
if (_log_data_remaining > packet.count) {
_log_data_remaining = packet.count;
}
_log_sending = true;
transfer_activity = SENDING;
_log_sending_link = &link;
handle_log_send();
@ -171,8 +169,8 @@ void DataFlash_Class::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_
{
mavlink_log_request_end_t packet;
mavlink_msg_log_request_end_decode(msg, &packet);
_in_log_download = false;
_log_sending = false;
transfer_activity = IDLE;
_log_sending_link = nullptr;
}
@ -188,13 +186,20 @@ void DataFlash_Class::handle_log_send()
// might be flying
return;
}
if (_log_listing) {
switch (transfer_activity) {
case IDLE:
break;
case LISTING:
handle_log_send_listing();
break;
case SENDING:
handle_log_sending();
break;
}
if (!_log_sending) {
return;
}
}
void DataFlash_Class::handle_log_sending()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// assume USB speeds in SITL for the purposes of log download
const uint8_t num_sends = 40;
@ -213,8 +218,12 @@ void DataFlash_Class::handle_log_send()
#endif
for (uint8_t i=0; i<num_sends; i++) {
if (_log_sending) {
if (!handle_log_send_data()) break;
if (transfer_activity != SENDING) {
// may have completed sending data
break;
}
if (!handle_log_send_data()) {
break;
}
}
}
@ -247,7 +256,7 @@ void DataFlash_Class::handle_log_send_listing()
time_utc,
size);
if (_log_next_list_entry == _log_last_list_entry) {
_log_listing = false;
transfer_activity = IDLE;
_log_sending_link = nullptr;
} else {
_log_next_list_entry++;
@ -297,8 +306,7 @@ bool DataFlash_Class::handle_log_send_data()
_log_data_offset += len;
_log_data_remaining -= len;
if (ret < MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN || _log_data_remaining == 0) {
_log_sending = false;
_in_log_download = false;
transfer_activity = IDLE;
_log_sending_link = nullptr;
}
return true;