mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
/*
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AP_Logger logging - block oriented variant
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*/
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#pragma once
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#include "AP_Logger_Backend.h"
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class AP_Logger_Block : public AP_Logger_Backend {
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public:
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AP_Logger_Block(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer);
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virtual void Init(void) override;
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virtual bool CardInserted(void) const override = 0;
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// erase handling
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void EraseAll() override;
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bool NeedPrep(void) override;
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void Prep() override;
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void PrepForArming() override;
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// high level interface
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uint16_t find_last_log() override;
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void get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page) override;
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) override;
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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) override;
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uint16_t get_num_logs() override;
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uint16_t start_new_log(void) override;
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uint32_t bufferspace_available() override;
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void stop_logging(void) override { log_write_started = false; }
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bool logging_enabled() const override { return true; }
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bool logging_failed() const override { return false; }
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bool logging_started(void) const override { return log_write_started; }
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protected:
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/* Write a block of data at current offset */
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bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
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private:
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/*
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functions implemented by the board specific backends
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*/
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virtual void BufferToPage(uint32_t PageAdr) = 0;
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virtual void PageToBuffer(uint32_t PageAdr) = 0;
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virtual void SectorErase(uint32_t PageAdr) = 0;
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virtual void StartErase() = 0;
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virtual bool InErase() = 0;
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struct PageHeader {
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uint16_t FileNumber;
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uint16_t FilePage;
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};
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HAL_Semaphore_Recursive sem;
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ByteBuffer writebuf;
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// state variables
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uint16_t df_Read_BufferIdx;
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uint32_t df_PageAdr;
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uint32_t df_Read_PageAdr;
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uint16_t df_FileNumber;
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uint32_t df_FilePage;
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// offset from adding FMT messages to log data
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bool adding_fmt_headers;
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// are we waiting on an erase to finish?
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bool erase_started;
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// read size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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bool BlockRead(uint16_t IntPageAdr, void *pBuffer, uint16_t size);
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// erase handling
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bool NeedErase(void);
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// internal high level functions
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int16_t get_log_data_raw(uint16_t log_num, uint32_t page, uint32_t offset, uint16_t len, uint8_t *data);
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void StartRead(uint32_t PageAdr);
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uint32_t find_last_page(void);
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uint32_t find_last_page_of_log(uint16_t log_number);
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bool check_wrapped(void);
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void StartWrite(uint32_t PageAdr);
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void FinishWrite(void);
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// Read methods
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bool ReadBlock(void *pBuffer, uint16_t size);
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// file numbers
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void SetFileNumber(uint16_t FileNumber);
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uint16_t GetFileNumber();
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void _print_log_formats(AP_HAL::BetterStream *port);
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// callback on IO thread
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void io_timer(void);
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protected:
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// page handling
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uint32_t df_PageSize;
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uint16_t df_PagePerSector;
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uint32_t df_NumPages;
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bool log_write_started;
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static const uint16_t page_size_max = 256;
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uint8_t *buffer;
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bool WritesOK() const override;
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};
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