mirror of https://github.com/ArduPilot/ardupilot
182 lines
6.2 KiB
C++
182 lines
6.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/* ************************************************************ */
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/* Test for DataFlash Log library */
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/* ************************************************************ */
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#ifndef DataFlash_h
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#define DataFlash_h
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_RPM/AP_RPM.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <DataFlash/LogStructure.h>
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#include <stdint.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <uORB/topics/esc_status.h>
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#endif
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#include "DFMessageWriter.h"
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class DataFlash_Backend;
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enum DataFlash_Backend_Type {
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DATAFLASH_BACKEND_NONE = 0,
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DATAFLASH_BACKEND_FILE = 1,
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DATAFLASH_BACKEND_MAVLINK = 2,
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DATAFLASH_BACKEND_BOTH = 3,
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};
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class DataFlash_Class
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{
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friend class DataFlash_Backend; // for _num_types
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public:
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
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FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
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DataFlash_Class(const char *firmware_string) :
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_firmware_string(firmware_string)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void set_mission(const AP_Mission *mission);
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// initialisation
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void Init(const struct LogStructure *structure, uint8_t num_types);
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bool CardInserted(void);
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// erase handling
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bool NeedErase(void);
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void EraseAll();
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// possibly expensive calls to start log system:
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bool NeedPrep();
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void Prep();
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/* Write a block of data at current offset */
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void WriteBlock(const void *pBuffer, uint16_t size);
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/* Write an *important* block of data at current offset */
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void WriteCriticalBlock(const void *pBuffer, uint16_t size);
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// high level interface
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uint16_t find_last_log() const;
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
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uint16_t get_num_logs(void);
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void LogReadProcess(uint16_t log_num,
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uint16_t start_page, uint16_t end_page,
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print_mode_fn printMode,
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AP_HAL::BetterStream *port);
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void DumpPageInfo(AP_HAL::BetterStream *port);
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void ShowDeviceInfo(AP_HAL::BetterStream *port);
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void ListAvailableLogs(AP_HAL::BetterStream *port);
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void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer);
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void StartNewLog(void);
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void EnableWrites(bool enable);
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void Log_Write_Parameter(const char *name, float value);
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void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
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void Log_Write_RFND(const RangeFinder &rangefinder);
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void Log_Write_IMU(const AP_InertialSensor &ins);
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void Log_Write_IMUDT(const AP_InertialSensor &ins);
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void Log_Write_Vibration(const AP_InertialSensor &ins);
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void Log_Write_RCIN(void);
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void Log_Write_RCOUT(void);
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void Log_Write_RSSI(AP_RSSI &rssi);
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void Log_Write_Baro(AP_Baro &baro);
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void Log_Write_Power(void);
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void Log_Write_AHRS2(AP_AHRS &ahrs);
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void Log_Write_POS(AP_AHRS &ahrs);
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#if AP_AHRS_NAVEKF_AVAILABLE
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void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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#endif
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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void Log_Write_Radio(const mavlink_radio_t &packet);
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void Log_Write_Message(const char *message);
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void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location ¤t_loc);
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void Log_Write_ESC(void);
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void Log_Write_Airspeed(AP_Airspeed &airspeed);
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void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
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void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle);
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void Log_Write_Compass(const Compass &compass);
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void Log_Write_Mode(uint8_t mode);
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void Log_Write_EntireMission(const AP_Mission &mission);
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void Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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void Log_Write_Origin(uint8_t origin_type, const Location &loc);
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void Log_Write_RPM(const AP_RPM &rpm_sensor);
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// This structure provides information on the internal member data of a PID for logging purposes
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struct PID_Info {
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float desired;
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float P;
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float I;
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float D;
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float FF;
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float AFF;
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};
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void Log_Write_PID(uint8_t msg_type, const PID_Info &info);
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bool logging_started(void);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// currently only DataFlash_File support this:
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void flush(void);
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#endif
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// for DataFlash_MAVLink:
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void remote_log_block_status_msg(mavlink_channel_t chan,
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mavlink_message_t* msg);
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// end for DataFlash_MAVLink:
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void periodic_tasks(); // may want to split this into GCS/non-GCS duties
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vehicle_startup_message_Log_Writer _vehicle_messages;
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// parameter support
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static const struct AP_Param::GroupInfo var_info[];
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struct {
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AP_Int8 backend_types;
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AP_Int8 file_bufsize; // in kilobytes
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} _params;
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const struct LogStructure *structure(uint16_t num) const;
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protected:
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const struct LogStructure *_structures;
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uint8_t _num_types;
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/* Write a block with specified importance */
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/* might be useful if you have a boolean indicating a message is
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* important... */
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void WritePrioritisedBlock(const void *pBuffer, uint16_t size,
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bool is_critical);
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private:
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#define DATAFLASH_MAX_BACKENDS 2
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uint8_t _next_backend;
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DataFlash_Backend *backends[DATAFLASH_MAX_BACKENDS];
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const char *_firmware_string;
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};
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#endif
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