mirror of https://github.com/ArduPilot/ardupilot
139 lines
4.5 KiB
C++
139 lines
4.5 KiB
C++
#ifndef DATAFLASH_BACKEND_H
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#define DATAFLASH_BACKEND_H
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#include "DataFlash.h"
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class DFMessageWriter_DFLogStart;
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class DataFlash_Backend
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{
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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_Backend(DataFlash_Class &front,
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class DFMessageWriter_DFLogStart *writer);
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vehicle_startup_message_Log_Writer vehicle_message_writer();
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void internal_error();
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virtual bool CardInserted(void) = 0;
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// erase handling
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virtual void EraseAll() = 0;
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virtual bool NeedPrep() = 0;
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virtual void Prep() = 0;
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/* Write a block of data at current offset */
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bool WriteBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, false);
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}
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bool WriteCriticalBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, true);
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}
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virtual bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
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// high level interface
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virtual uint16_t find_last_log() = 0;
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virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
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virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0;
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virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0;
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virtual uint16_t get_num_logs() = 0;
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virtual void LogReadProcess(const uint16_t list_entry,
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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) = 0;
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virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0;
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void EnableWrites(bool enable) { _writes_enabled = enable; }
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bool logging_started(void) const { return log_write_started; }
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virtual void Init() {
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_writes_enabled = true;
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}
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void set_mission(const AP_Mission *mission);
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virtual uint16_t bufferspace_available() = 0;
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virtual uint16_t start_new_log(void) = 0;
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bool log_write_started;
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
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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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virtual void flush(void) { }
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#endif
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// for Dataflash_MAVlink
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virtual 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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virtual void periodic_tasks();
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uint8_t num_types() const;
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const struct LogStructure *structure(uint8_t structure) const;
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void Log_Write_EntireMission(const AP_Mission &mission);
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bool Log_Write_Format(const struct LogStructure *structure);
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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bool Log_Write_Message(const char *message);
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bool Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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bool Log_Write_Mode(uint8_t mode);;
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bool Log_Write_Parameter(const char *name, float value);
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bool Log_Write_Parameter(const AP_Param *ap,
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const AP_Param::ParamToken &token,
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enum ap_var_type type);
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protected:
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uint32_t dropped;
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uint8_t internal_errors; // uint8_t - wishful thinking?
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DataFlash_Class &_front;
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virtual void periodic_10Hz(const uint32_t now);
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virtual void periodic_1Hz(const uint32_t now);
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virtual void periodic_fullrate(const uint32_t now);
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/*
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read and print a log entry using the format strings from the given structure
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*/
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void _print_log_entry(uint8_t msg_type,
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print_mode_fn print_mode,
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AP_HAL::BetterStream *port);
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bool _writes_enabled = false;
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/*
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read a block
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*/
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virtual bool ReadBlock(void *pkt, uint16_t size) = 0;
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virtual bool WriteBlockCheckStartupMessages();
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virtual void WriteMoreStartupMessages();
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virtual void push_log_blocks();
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DFMessageWriter_DFLogStart *_startup_messagewriter;
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bool _writing_startup_messages;
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uint32_t _internal_errors;
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uint32_t _dropped;
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private:
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uint32_t _last_periodic_1Hz;
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uint32_t _last_periodic_10Hz;
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};
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#endif
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