mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.2 KiB
C++
140 lines
4.2 KiB
C++
/*
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AP_Logger logging - file oriented variant
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This uses posix file IO to create log files called logNN.dat in the
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given directory
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*/
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#pragma once
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#include <AP_Filesystem/AP_Filesystem.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_Logger_Backend.h"
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#if HAL_LOGGING_FILESYSTEM_ENABLED
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#ifndef HAL_LOGGER_WRITE_CHUNK_SIZE
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#define HAL_LOGGER_WRITE_CHUNK_SIZE 4096
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#endif
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class AP_Logger_File : public AP_Logger_Backend
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{
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public:
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// constructor
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AP_Logger_File(AP_Logger &front,
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LoggerMessageWriter_DFLogStart *,
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const char *log_directory);
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// initialisation
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void Init() override;
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bool CardInserted(void) const override;
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// erase handling
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void EraseAll() override;
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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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uint32_t bufferspace_available() 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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void start_new_log(void) override;
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uint16_t find_oldest_log() override;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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void flush(void) override;
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#endif
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void periodic_1Hz() override;
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void periodic_fullrate() override;
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// this method is used when reporting system status over mavlink
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bool logging_failed() const override;
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bool logging_started(void) const override { return _write_fd != -1; }
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void io_timer(void) override;
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protected:
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bool WritesOK() const override;
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bool StartNewLogOK() const override;
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private:
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int _write_fd = -1;
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char *_write_filename;
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uint32_t _last_write_ms;
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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bool _need_rtc_update;
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#endif
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int _read_fd = -1;
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uint16_t _read_fd_log_num;
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uint32_t _read_offset;
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uint32_t _write_offset;
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volatile uint32_t _open_error_ms;
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const char *_log_directory;
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bool _last_write_failed;
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uint32_t _io_timer_heartbeat;
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bool io_thread_alive() const;
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uint8_t io_thread_warning_decimation_counter;
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// do we have a recent open error?
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bool recent_open_error(void) const;
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// possibly time-consuming preparations handling
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void Prep_MinSpace();
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int64_t disk_space_avail();
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int64_t disk_space();
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void ensure_log_directory_exists();
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bool file_exists(const char *filename) const;
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bool log_exists(const uint16_t lognum) const;
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// write buffer
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ByteBuffer _writebuf{0};
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const uint16_t _writebuf_chunk = HAL_LOGGER_WRITE_CHUNK_SIZE;
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uint32_t _last_write_time;
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/* construct a file name given a log number. Caller must free. */
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char *_log_file_name(const uint16_t log_num) const;
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char *_log_file_name_long(const uint16_t log_num) const;
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char *_log_file_name_short(const uint16_t log_num) const;
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char *_lastlog_file_name() const;
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uint32_t _get_log_size(const uint16_t log_num);
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uint32_t _get_log_time(const uint16_t log_num);
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void stop_logging(void) override;
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uint32_t last_messagewrite_message_sent;
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// free-space checks; filling up SD cards under NuttX leads to
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// corrupt filesystems which cause loss of data, failure to gather
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// data and failures-to-boot.
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uint32_t _free_space_last_check_time; // milliseconds
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const uint32_t _free_space_check_interval = 1000UL; // milliseconds
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const uint32_t _free_space_min_avail = 8388608; // bytes
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// semaphore mediates access to the ringbuffer
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HAL_Semaphore semaphore;
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// write_fd_semaphore mediates access to write_fd so the frontend
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// can open/close files without causing the backend to write to a
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// bad fd
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HAL_Semaphore write_fd_semaphore;
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// async erase state
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struct {
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bool was_logging;
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uint16_t log_num;
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} erase;
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void erase_next(void);
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const char *last_io_operation = "";
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};
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#endif // HAL_LOGGING_FILESYSTEM_ENABLED
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