mirror of https://github.com/ArduPilot/ardupilot
185 lines
6.2 KiB
C++
185 lines
6.2 KiB
C++
/*
|
|
AP_Logger logging - MAVLink variant
|
|
|
|
- transfers blocks of the open log file to a client using MAVLink
|
|
*/
|
|
#pragma once
|
|
|
|
#define LOGGER_MAVLINK_SUPPORT 1
|
|
|
|
#if LOGGER_MAVLINK_SUPPORT
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#include "AP_Logger_Backend.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define DF_MAVLINK_DISABLE_INTERRUPTS 0
|
|
|
|
class AP_Logger_MAVLink : public AP_Logger_Backend
|
|
{
|
|
public:
|
|
// constructor
|
|
AP_Logger_MAVLink(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
|
|
AP_Logger_Backend(front, writer),
|
|
_max_blocks_per_send_blocks(8)
|
|
,_perf_packing(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "DM_packing"))
|
|
{
|
|
_blockcount = 1024*((uint8_t)_front._params.mav_bufsize) / sizeof(struct dm_block);
|
|
// ::fprintf(stderr, "DM: Using %u blocks\n", _blockcount);
|
|
}
|
|
|
|
// initialisation
|
|
void Init() override;
|
|
|
|
// in actual fact, we throw away everything until a client connects.
|
|
// This stops calls to start_new_log from the vehicles
|
|
bool logging_started() const override { return _initialised; }
|
|
|
|
void stop_logging() override;
|
|
|
|
/* Write a block of data at current offset */
|
|
bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size,
|
|
bool is_critical) override;
|
|
|
|
// initialisation
|
|
bool CardInserted(void) const override { return true; }
|
|
|
|
// erase handling
|
|
void EraseAll() override {}
|
|
|
|
bool NeedPrep() override { return false; }
|
|
void Prep() override { }
|
|
|
|
// high level interface
|
|
uint16_t find_last_log(void) override { return 0; }
|
|
void get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page) override {}
|
|
void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) override {}
|
|
int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) override { return 0; }
|
|
uint16_t get_num_logs(void) override { return 0; }
|
|
|
|
void push_log_blocks() override;
|
|
|
|
void remote_log_block_status_msg(mavlink_channel_t chan, mavlink_message_t* msg) override;
|
|
|
|
protected:
|
|
|
|
bool WritesOK() const override;
|
|
|
|
private:
|
|
|
|
struct dm_block {
|
|
uint32_t seqno;
|
|
uint8_t buf[MAVLINK_MSG_REMOTE_LOG_DATA_BLOCK_FIELD_DATA_LEN];
|
|
uint32_t last_sent;
|
|
struct dm_block *next;
|
|
};
|
|
bool send_log_block(struct dm_block &block);
|
|
void handle_ack(mavlink_channel_t chan, mavlink_message_t* msg, uint32_t seqno);
|
|
void handle_retry(uint32_t block_num);
|
|
void do_resends(uint32_t now);
|
|
void free_all_blocks();
|
|
|
|
// a stack for free blocks, queues for pending, sent, retries and sent
|
|
struct dm_block_queue {
|
|
uint32_t sent_count;
|
|
struct dm_block *oldest;
|
|
struct dm_block *youngest;
|
|
};
|
|
typedef struct dm_block_queue dm_block_queue_t ;
|
|
void enqueue_block(dm_block_queue_t &queue, struct dm_block *block);
|
|
bool queue_has_block(dm_block_queue_t &queue, struct dm_block *block);
|
|
struct dm_block *dequeue_seqno(dm_block_queue_t &queue, uint32_t seqno);
|
|
bool free_seqno_from_queue(uint32_t seqno, dm_block_queue_t &queue);
|
|
bool send_log_blocks_from_queue(dm_block_queue_t &queue);
|
|
uint8_t stack_size(struct dm_block *stack);
|
|
uint8_t queue_size(dm_block_queue_t queue);
|
|
|
|
struct dm_block *_blocks_free;
|
|
dm_block_queue_t _blocks_sent;
|
|
dm_block_queue_t _blocks_pending;
|
|
dm_block_queue_t _blocks_retry;
|
|
|
|
struct _stats {
|
|
// the following are reset any time we log stats (see "reset_stats")
|
|
uint32_t resends;
|
|
uint8_t collection_count;
|
|
uint16_t state_free; // cumulative across collection period
|
|
uint8_t state_free_min;
|
|
uint8_t state_free_max;
|
|
uint16_t state_pending; // cumulative across collection period
|
|
uint8_t state_pending_min;
|
|
uint8_t state_pending_max;
|
|
uint16_t state_retry; // cumulative across collection period
|
|
uint8_t state_retry_min;
|
|
uint8_t state_retry_max;
|
|
uint16_t state_sent; // cumulative across collection period
|
|
uint8_t state_sent_min;
|
|
uint8_t state_sent_max;
|
|
} stats;
|
|
|
|
// this method is used when reporting system status over mavlink
|
|
bool logging_enabled() const override { return true; }
|
|
bool logging_failed() const override;
|
|
|
|
mavlink_channel_t _chan;
|
|
uint8_t _target_system_id;
|
|
uint8_t _target_component_id;
|
|
|
|
// this controls the maximum number of blocks we will push from
|
|
// the pending and send queues in any call to push_log_blocks.
|
|
// push_log_blocks is called by periodic_tasks. Each block is 200
|
|
// bytes. In Plane, at 50Hz, a _max_blocks_per_send_blocks of 2
|
|
// means we will push at most 2*50*200 == 20KB of logs per second
|
|
// _max_blocks_per_send_blocks has to be high enough to push all
|
|
// of the logs, but low enough that we don't spend way too much
|
|
// time packing messages in any one loop
|
|
const uint8_t _max_blocks_per_send_blocks;
|
|
|
|
uint32_t _next_seq_num;
|
|
uint16_t _latest_block_len;
|
|
uint32_t _last_response_time;
|
|
uint32_t _last_send_time;
|
|
uint8_t _next_block_number_to_resend;
|
|
bool _sending_to_client;
|
|
|
|
void Write_logger_MAV(AP_Logger_MAVLink &logger);
|
|
|
|
uint32_t bufferspace_available() override; // in bytes
|
|
uint8_t remaining_space_in_current_block();
|
|
// write buffer
|
|
uint8_t _blockcount_free;
|
|
uint8_t _blockcount;
|
|
struct dm_block *_blocks;
|
|
struct dm_block *_current_block;
|
|
struct dm_block *next_block();
|
|
|
|
void periodic_10Hz(uint32_t now) override;
|
|
void periodic_1Hz() override;
|
|
void periodic_fullrate() override;
|
|
|
|
void stats_init();
|
|
void stats_reset();
|
|
void stats_collect();
|
|
void stats_log();
|
|
uint32_t _stats_last_collected_time;
|
|
uint32_t _stats_last_logged_time;
|
|
uint8_t mavlink_seq;
|
|
|
|
/* we currently ignore requests to start a new log. Notionally we
|
|
* could close the currently logging session and hope the client
|
|
* re-opens one */
|
|
uint16_t start_new_log(void) override {
|
|
return 0;
|
|
}
|
|
// performance counters
|
|
AP_HAL::Util::perf_counter_t _perf_errors;
|
|
AP_HAL::Util::perf_counter_t _perf_packing;
|
|
AP_HAL::Util::perf_counter_t _perf_overruns;
|
|
|
|
HAL_Semaphore semaphore;
|
|
};
|
|
|
|
#endif // LOGGER_MAVLINK_SUPPORT
|