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ardupilot/libraries/AP_Logger/LoggerMessageWriter.cpp

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#include "AP_Logger_config.h"
#if HAL_LOGGING_ENABLED
#include "AP_Common/AP_FWVersion.h"
#include "LoggerMessageWriter.h"
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_Logger.h"
#if HAL_LOGGER_FENCE_ENABLED
#include <AC_Fence/AC_Fence.h>
#endif
#if HAL_LOGGER_RALLY_ENABLED
#include <AP_Rally/AP_Rally.h>
#endif
#define FORCE_VERSION_H_INCLUDE
#include "ap_version.h"
#undef FORCE_VERSION_H_INCLUDE
// the message writers are mainly called at the end of periodic_fullrate() with a budget of 300us
// until they are finished calls to Write() will fail so we want to take up as much of
// the budget as possible in order that logging can begin in earnest as early as possible
#define MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US 50
extern const AP_HAL::HAL& hal;
/* LogStartup - these are simple state machines which allow us to
* trickle out messages to the log files
*/
void LoggerMessageWriter::reset()
{
_finished = false;
}
bool LoggerMessageWriter::out_of_time_for_writing_messages() const
{
#if AP_SCHEDULER_ENABLED
return AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US;
#else
return false;
#endif
}
void LoggerMessageWriter_DFLogStart::reset()
{
LoggerMessageWriter::reset();
_fmt_done = false;
_params_done = false;
_writesysinfo.reset();
#if AP_MISSION_ENABLED
_writeentiremission.reset();
#endif
#if HAL_LOGGER_RALLY_ENABLED
_writeallrallypoints.reset();
#endif
#if HAL_LOGGER_FENCE_ENABLED
_writeallpolyfence.reset();
#endif
stage = Stage::FORMATS;
next_format_to_send = 0;
_next_unit_to_send = 0;
_next_multiplier_to_send = 0;
_next_format_unit_to_send = 0;
param_default = AP::logger().quiet_nanf();
ap = AP_Param::first(&token, &type, &param_default);
}
bool LoggerMessageWriter_DFLogStart::out_of_time_for_writing_messages_df() const
{
if (stage == Stage::FORMATS) {
// write out the FMT messages as fast as we can
#if AP_SCHEDULER_ENABLED
return AP::scheduler().time_available_usec() == 0;
#else
return false;
#endif
}
return LoggerMessageWriter::out_of_time_for_writing_messages();
}
/*
check if we've taken too long in a process() stage
return true if we should stop processing now as we are out of time
*/
bool LoggerMessageWriter_DFLogStart::check_process_limit(uint32_t start_us)
{
const uint32_t limit_us = 1000U;
if (AP_HAL::micros() - start_us > limit_us) {
return true;
}
return false;
}
void LoggerMessageWriter_DFLogStart::process()
{
if (out_of_time_for_writing_messages_df()) {
return;
}
// allow any stage to run for max 1ms, to prevent a long loop on arming
const uint32_t start_us = AP_HAL::micros();
switch(stage) {
case Stage::FORMATS:
// write log formats so the log is self-describing
while (next_format_to_send < _logger_backend->num_types()) {
const auto &s { _logger_backend->structure(next_format_to_send) };
if (_logger_backend->have_emitted_format_for_type((LogMessages)s->msg_type)) {
next_format_to_send++;
continue;
}
if (!_logger_backend->Write_Format(s)) {
return; // call me again!
}
next_format_to_send++;
if (check_process_limit(start_us)) {
return; // call me again!
}
}
_fmt_done = true;
stage = Stage::PARMS;
FALLTHROUGH;
case Stage::PARMS: {
while (ap) {
if (!_logger_backend->Write_Parameter(ap, token, type, param_default)) {
return;
}
param_default = AP::logger().quiet_nanf();
ap = AP_Param::next_scalar(&token, &type, &param_default);
if (check_process_limit(start_us)) {
return; // call me again!
}
}
_params_done = true;
stage = Stage::UNITS;
}
FALLTHROUGH;
case Stage::UNITS:
while (_next_unit_to_send < _logger_backend->num_units()) {
if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
return; // call me again!
}
_next_unit_to_send++;
if (check_process_limit(start_us)) {
return; // call me again!
}
}
stage = Stage::MULTIPLIERS;
FALLTHROUGH;
case Stage::MULTIPLIERS:
while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
return; // call me again!
}
_next_multiplier_to_send++;
if (check_process_limit(start_us)) {
return; // call me again!
}
}
stage = Stage::UNITS;
FALLTHROUGH;
case Stage::FORMAT_UNITS:
while (_next_format_unit_to_send < _logger_backend->num_types()) {
if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
return; // call me again!
}
_next_format_unit_to_send++;
if (check_process_limit(start_us)) {
return; // call me again!
}
}
stage = Stage::RUNNING_SUBWRITERS;
FALLTHROUGH;
case Stage::RUNNING_SUBWRITERS: {
LoggerMessageWriter *subwriters[] {
&_writesysinfo,
#if AP_MISSION_ENABLED
&_writeentiremission,
#endif
#if HAL_LOGGER_RALLY_ENABLED
&_writeallrallypoints,
#endif
#if HAL_LOGGER_FENCE_ENABLED
&_writeallpolyfence,
#endif
};
for (auto *sw : subwriters) {
if (!sw->finished()) {
sw->process();
if (!sw->finished()) {
return;
}
}
}
stage = Stage::VEHICLE_MESSAGES;
FALLTHROUGH;
}
case Stage::VEHICLE_MESSAGES:
// we guarantee 200 bytes of space for the vehicle startup
// messages. This allows them to be simple functions rather
// than e.g. LoggerMessageWriter-based state machines
if (_logger_backend->vehicle_message_writer()) {
if (_logger_backend->bufferspace_available() < 200) {
return;
}
(_logger_backend->vehicle_message_writer())();
}
stage = Stage::DONE;
FALLTHROUGH;
case Stage::DONE:
break;
}
_finished = true;
}
#if AP_MISSION_ENABLED
bool LoggerMessageWriter_DFLogStart::writeentiremission()
{
if (stage != Stage::DONE) {
return false;
}
stage = Stage::RUNNING_SUBWRITERS;
_finished = false;
_writeentiremission.reset();
return true;
}
#endif
#if HAL_LOGGER_RALLY_ENABLED
bool LoggerMessageWriter_DFLogStart::writeallrallypoints()
{
if (stage != Stage::DONE) {
return false;
}
stage = Stage::RUNNING_SUBWRITERS;
_finished = false;
_writeallrallypoints.reset();
return true;
}
#endif
#if HAL_LOGGER_FENCE_ENABLED
bool LoggerMessageWriter_DFLogStart::writeallfence()
{
if (stage != Stage::DONE) {
return false;
}
stage = Stage::RUNNING_SUBWRITERS;
_finished = false;
_writeallpolyfence.reset();
return true;
}
#endif
void LoggerMessageWriter_WriteSysInfo::reset()
{
LoggerMessageWriter::reset();
stage = Stage::FIRMWARE_STRING;
}
void LoggerMessageWriter_WriteSysInfo::process() {
const AP_FWVersion &fwver = AP::fwversion();
switch(stage) {
case Stage::FIRMWARE_STRING:
#ifdef AP_CUSTOM_FIRMWARE_STRING
// also log original firmware string if different
if (! _logger_backend->Write_MessageF("%s [%s]",
fwver.fw_string,
fwver.fw_string_original)) {
return; // call me again
}
#else
if (! _logger_backend->Write_Message(fwver.fw_string)) {
return; // call me again
}
#endif
stage = Stage::GIT_VERSIONS;
FALLTHROUGH;
case Stage::GIT_VERSIONS:
if (fwver.middleware_name && fwver.os_name) {
if (! _logger_backend->Write_MessageF("%s: %s %s: %s",
fwver.middleware_name,
fwver.middleware_hash_str,
fwver.os_name,
fwver.os_hash_str)) {
return; // call me again
}
} else if (fwver.os_name) {
if (! _logger_backend->Write_MessageF("%s: %s",
fwver.os_name,
fwver.os_hash_str)) {
return; // call me again
}
}
stage = Stage::VER;
FALLTHROUGH;
case Stage::VER: {
if (!_logger_backend->Write_VER()) {
return;
}
stage = Stage::SYSTEM_ID;
FALLTHROUGH;
}
case Stage::SYSTEM_ID:
char sysid[50];
if (hal.util->get_system_id(sysid)) {
if (! _logger_backend->Write_Message(sysid)) {
return; // call me again
}
}
stage = Stage::PARAM_SPACE_USED;
FALLTHROUGH;
case Stage::PARAM_SPACE_USED:
if (! _logger_backend->Write_MessageF("Param space used: %u/%u", AP_Param::storage_used(), AP_Param::storage_size())) {
return; // call me again
}
stage = Stage::RC_PROTOCOL;
FALLTHROUGH;
case Stage::RC_PROTOCOL: {
const char *prot = hal.rcin->protocol();
if (prot == nullptr) {
prot = "None";
}
if (! _logger_backend->Write_MessageF("RC Protocol: %s", prot)) {
return; // call me again
}
stage = Stage::RC_OUTPUT;
FALLTHROUGH;
}
case Stage::RC_OUTPUT: {
char banner_msg[50];
if (hal.rcout->get_output_mode_banner(banner_msg, sizeof(banner_msg))) {
if (!_logger_backend->Write_Message(banner_msg)) {
return; // call me again
}
}
break;
}
}
_finished = true; // all done!
}
#if HAL_LOGGER_RALLY_ENABLED
void LoggerMessageWriter_WriteAllRallyPoints::process()
{
const AP_Rally *_rally = AP::rally();
if (_rally == nullptr) {
_finished = true;
return;
}
switch(stage) {
case Stage::WRITE_NEW_RALLY_MESSAGE:
if (! _logger_backend->Write_Message("New rally")) {
return; // call me again
}
stage = Stage::WRITE_ALL_RALLY_POINTS;
FALLTHROUGH;
case Stage::WRITE_ALL_RALLY_POINTS:
while (_rally_number_to_send < _rally->get_rally_total()) {
if (out_of_time_for_writing_messages()) {
return;
}
RallyLocation rallypoint;
if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) {
if (!_logger_backend->Write_RallyPoint(
_rally->get_rally_total(),
_rally_number_to_send,
rallypoint)) {
return; // call me again
}
}
_rally_number_to_send++;
}
stage = Stage::DONE;
FALLTHROUGH;
case Stage::DONE:
break;
}
_finished = true;
}
void LoggerMessageWriter_WriteAllRallyPoints::reset()
{
LoggerMessageWriter::reset();
stage = Stage::WRITE_NEW_RALLY_MESSAGE;
_rally_number_to_send = 0;
}
#endif // HAL_LOGGER_RALLY_ENABLED
void LoggerMessageWriter_WriteEntireMission::process() {
const AP_Mission *_mission = AP::mission();
if (_mission == nullptr) {
_finished = true;
return;
}
switch(stage) {
case Stage::WRITE_NEW_MISSION_MESSAGE:
if (! _logger_backend->Write_Message("New mission")) {
return; // call me again
}
stage = Stage::WRITE_MISSION_ITEMS;
FALLTHROUGH;
case Stage::WRITE_MISSION_ITEMS: {
AP_Mission::Mission_Command cmd;
while (_mission_number_to_send < _mission->num_commands()) {
if (out_of_time_for_writing_messages()) {
return;
}
// 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 (!_logger_backend->Write_Mission_Cmd(*_mission, cmd, LOG_CMD_MSG)) {
return; // call me again
}
}
_mission_number_to_send++;
}
stage = Stage::DONE;
FALLTHROUGH;
}
case Stage::DONE:
break;
}
_finished = true;
}
void LoggerMessageWriter_WriteEntireMission::reset()
{
LoggerMessageWriter::reset();
stage = Stage::WRITE_NEW_MISSION_MESSAGE;
_mission_number_to_send = 0;
}
#if HAL_LOGGER_FENCE_ENABLED
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// dummy methods to allow build with Replay
void LoggerMessageWriter_Write_Polyfence::process() { };
void LoggerMessageWriter_Write_Polyfence::reset() { };
#else
void LoggerMessageWriter_Write_Polyfence::process() {
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
_finished = true;
return;
}
switch(stage) {
case Stage::WRITE_NEW_FENCE_MESSAGE:
if (!_logger_backend->Write_Message("New fence")) {
return; // call me again
}
stage = Stage::WRITE_FENCE_ITEMS;
FALLTHROUGH;
case Stage::WRITE_FENCE_ITEMS: {
while (_fence_number_to_send < fence->polyfence().num_stored_items()) {
if (out_of_time_for_writing_messages()) {
return;
}
// upon failure to write the fence we will re-read from
// storage; this could be improved.
AC_PolyFenceItem fenceitem {};
if (fence->polyfence().get_item(_fence_number_to_send, fenceitem)) {
if (!_logger_backend->Write_FencePoint(fence->polyfence().num_stored_items(), _fence_number_to_send, fenceitem)) {
return; // call me again
}
}
_fence_number_to_send++;
}
stage = Stage::DONE;
FALLTHROUGH;
}
case Stage::DONE:
break;
}
_finished = true;
}
void LoggerMessageWriter_Write_Polyfence::reset()
{
LoggerMessageWriter::reset();
stage = Stage::WRITE_NEW_FENCE_MESSAGE;
_fence_number_to_send = 0;
}
#endif // !APM_BUILD_TYPE(APM_BUILD_Replay)
#endif // AP_FENCE_ENABLED
#endif // HAL_LOGGING_ENABLED
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