ardupilot/libraries/DataFlash/DFMessageWriter.h

113 lines
2.8 KiB
C++

#ifndef DF_LOGSTARTUP_H
#define DF_LOGSTARTUP_H
#include <AP_HAL/AP_HAL.h>
#include <AP_Mission/AP_Mission.h>
class DataFlash_Class;
class DFMessageWriter {
public:
DFMessageWriter(DataFlash_Class &DataFlash) :
_DataFlash(DataFlash) { }
virtual void reset() = 0;
virtual void process() = 0;
virtual bool finished() { return _finished; };
protected:
bool _finished;
DataFlash_Class &_DataFlash;
};
class DFMessageWriter_WriteSysInfo : public DFMessageWriter {
public:
DFMessageWriter_WriteSysInfo(DataFlash_Class &DataFlash,
const prog_char_t *firmware_string) :
DFMessageWriter(DataFlash),
_firmware_string(firmware_string)
{ }
void reset();
void process();
private:
enum write_sysinfo_blockwriter_stage {
ws_blockwriter_stage_init,
ws_blockwriter_stage_firmware_string,
ws_blockwriter_stage_git_versions,
ws_blockwriter_stage_system_id
};
write_sysinfo_blockwriter_stage stage;
const prog_char_t *_firmware_string;
};
class DFMessageWriter_WriteEntireMission : public DFMessageWriter {
public:
DFMessageWriter_WriteEntireMission(DataFlash_Class &DataFlash) :
DFMessageWriter(DataFlash)
{}
void reset();
void process();
void set_mission(const AP_Mission *mission);
private:
enum entire_mission_blockwriter_stage {
em_blockwriter_stage_init,
em_blockwriter_stage_write_new_mission_message,
em_blockwriter_stage_write_mission_items,
em_blockwriter_stage_done
};
const AP_Mission *_mission = nullptr;
uint16_t _mission_number_to_send = 0;
entire_mission_blockwriter_stage stage = em_blockwriter_stage_init;
};
class DFMessageWriter_DFLogStart : public DFMessageWriter {
public:
DFMessageWriter_DFLogStart(DataFlash_Class &DataFlash,
const prog_char_t *firmware_string) :
DFMessageWriter{DataFlash},
_writesysinfo(DataFlash, firmware_string),
_writeentiremission(DataFlash)
{
}
void reset();
void process();
void set_mission(const AP_Mission *mission);
private:
enum log_start_blockwriter_stage {
ls_blockwriter_stage_init,
ls_blockwriter_stage_formats,
ls_blockwriter_stage_parms,
ls_blockwriter_stage_sysinfo,
ls_blockwriter_stage_write_entire_mission,
ls_blockwriter_stage_vehicle_messages,
ls_blockwriter_stage_done,
};
log_start_blockwriter_stage stage;
uint16_t next_format_to_send;
AP_Param::ParamToken token;
AP_Param *ap;
enum ap_var_type type;
uint16_t num_format_types;
const struct LogStructure *_structures;
DFMessageWriter_WriteSysInfo _writesysinfo;
DFMessageWriter_WriteEntireMission _writeentiremission;
};
#endif