ardupilot/libraries/AP_Logger/AP_Logger_Block.h

167 lines
5.2 KiB
C++

/*
AP_Logger logging - block oriented variant
*/
#pragma once
#include "AP_Logger_Backend.h"
#if HAL_LOGGING_BLOCK_ENABLED
#define BLOCK_LOG_VALIDATE 0
class AP_Logger_Block : public AP_Logger_Backend {
public:
AP_Logger_Block(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer);
virtual void Init(void) override;
virtual bool CardInserted(void) const override = 0;
// erase handling
void EraseAll() override;
// high level interface
uint16_t find_last_log() override;
void get_log_boundaries(uint16_t list_entry, uint32_t & start_page, uint32_t & end_page) override;
void get_log_info(uint16_t list_entry, uint32_t &size, uint32_t &time_utc) override;
int16_t get_log_data(uint16_t list_entry, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) override WARN_IF_UNUSED;
uint16_t get_num_logs() override;
void start_new_log(void) override;
uint32_t bufferspace_available() override;
void stop_logging(void) override;
void stop_logging_async(void) override;
bool logging_failed() const override;
bool logging_started(void) const override { return log_write_started; }
void io_timer(void) override;
protected:
/* Write a block of data at current offset */
bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
void periodic_1Hz() override;
void periodic_10Hz(const uint32_t now) override;
bool WritesOK() const override;
// get the current sector from the current page
uint32_t get_sector(uint32_t current_page) const {
return ((current_page - 1) / df_PagePerSector);
}
// get the current block from the current page
uint32_t get_block(uint32_t current_page) const {
return ((current_page - 1) / df_PagePerBlock);
}
// number of bytes in a page
uint32_t df_PageSize;
// number of pages in a (generally 64k) block
uint16_t df_PagePerBlock;
// number of pages in a (generally 4k) sector
uint16_t df_PagePerSector;
// number of pages on the chip
uint32_t df_NumPages;
volatile bool log_write_started;
uint8_t *buffer;
uint32_t last_messagewrite_message_sent;
private:
/*
functions implemented by the board specific backends
*/
virtual void BufferToPage(uint32_t PageAdr) = 0;
virtual void PageToBuffer(uint32_t PageAdr) = 0;
virtual void SectorErase(uint32_t SectorAdr) = 0;
virtual void Sector4kErase(uint32_t SectorAdr) = 0;
virtual void StartErase() = 0;
virtual bool InErase() = 0;
void flash_test(void);
struct PACKED PageHeader {
uint32_t FilePage;
uint16_t FileNumber;
#if BLOCK_LOG_VALIDATE
uint32_t crc;
#endif
};
struct PACKED FileHeader {
uint32_t utc_secs;
};
// semaphore to mediate access to the chip
HAL_Semaphore sem;
// semaphore to mediate access to the ring buffer
HAL_Semaphore write_sem;
ByteBuffer writebuf;
// state variables
uint16_t df_Read_BufferIdx;
uint32_t df_PageAdr;
uint32_t df_Read_PageAdr;
// file numbers
uint16_t df_FileNumber;
uint16_t df_Write_FileNumber;
uint32_t df_FileTime;
// relative page index of the current read/write file starting at 1
uint32_t df_FilePage;
uint32_t df_Write_FilePage;
// page to wipe from in the case of corruption
uint32_t df_EraseFrom;
// offset from adding FMT messages to log data
bool adding_fmt_headers;
// are we waiting on an erase to finish?
volatile bool erase_started;
// were we logging before the erase started?
volatile bool new_log_pending;
// have we been asked to stop logging safely?
volatile bool stop_log_pending;
// latch to make sure we only write out the full message once
volatile bool chip_full;
// io thread health
volatile uint32_t io_timer_heartbeat;
uint8_t warning_decimation_counter;
volatile enum class StatusMessage {
NONE,
ERASE_COMPLETE,
RECOVERY_COMPLETE,
} status_msg;
// read size bytes of data to a page. The caller must ensure that
// the data fits within the page, otherwise it will wrap to the
// start of the page
bool BlockRead(uint16_t IntPageAdr, void *pBuffer, uint16_t size);
// erase handling
bool NeedErase(void);
void validate_log_structure();
// internal high level functions
int16_t get_log_data_raw(uint16_t log_num, uint32_t page, uint32_t offset, uint16_t len, uint8_t *data) WARN_IF_UNUSED;
// read from the page address and return the file number at that location
uint16_t StartRead(uint32_t PageAdr);
// read the headers at the current read point returning the file number
uint16_t ReadHeaders();
uint32_t find_last_page(void);
uint32_t find_last_page_of_log(uint16_t log_number);
bool is_wrapped(void);
void StartWrite(uint32_t PageAdr);
void FinishWrite(void);
// Read methods
bool ReadBlock(void *pBuffer, uint16_t size);
void StartLogFile(uint16_t FileNumber);
// file numbers
uint16_t GetFileNumber() const;
void _print_log_formats(AP_HAL::BetterStream *port);
// callback on IO thread
bool io_thread_alive() const;
void write_log_page();
};
#endif // HAL_LOGGING_BLOCK_ENABLED