mirror of https://github.com/ArduPilot/ardupilot
445 lines
12 KiB
C++
445 lines
12 KiB
C++
#include "AP_Logger_Backend.h"
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#include "LoggerMessageWriter.h"
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#include <AP_InternalError/AP_InternalError.h>
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extern const AP_HAL::HAL& hal;
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AP_Logger_Backend::AP_Logger_Backend(AP_Logger &front,
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class LoggerMessageWriter_DFLogStart *writer) :
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_front(front),
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_startup_messagewriter(writer)
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{
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writer->set_logger_backend(this);
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}
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uint8_t AP_Logger_Backend::num_types() const
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{
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return _front._num_types;
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}
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const struct LogStructure *AP_Logger_Backend::structure(uint8_t num) const
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{
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return _front.structure(num);
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}
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uint8_t AP_Logger_Backend::num_units() const
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{
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return _front._num_units;
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}
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const struct UnitStructure *AP_Logger_Backend::unit(uint8_t num) const
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{
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return _front.unit(num);
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}
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uint8_t AP_Logger_Backend::num_multipliers() const
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{
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return _front._num_multipliers;
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}
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const struct MultiplierStructure *AP_Logger_Backend::multiplier(uint8_t num) const
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{
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return _front.multiplier(num);
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}
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AP_Logger_Backend::vehicle_startup_message_Writer AP_Logger_Backend::vehicle_message_writer() {
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return _front._vehicle_messages;
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}
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void AP_Logger_Backend::periodic_10Hz(const uint32_t now)
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{
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}
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void AP_Logger_Backend::periodic_1Hz()
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{
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}
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void AP_Logger_Backend::periodic_fullrate()
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{
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}
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void AP_Logger_Backend::periodic_tasks()
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{
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uint32_t now = AP_HAL::millis();
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if (now - _last_periodic_1Hz > 1000) {
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periodic_1Hz();
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_last_periodic_1Hz = now;
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}
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if (now - _last_periodic_10Hz > 100) {
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periodic_10Hz(now);
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_last_periodic_10Hz = now;
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}
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periodic_fullrate();
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}
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void AP_Logger_Backend::start_new_log_reset_variables()
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{
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_startup_messagewriter->reset();
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_front.backend_starting_new_log(this);
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}
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// this method can be overridden to do extra things with your buffer.
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// for example, in AP_Logger_MAVLink we may push messages into the UART.
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void AP_Logger_Backend::push_log_blocks() {
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WriteMoreStartupMessages();
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}
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// returns true if all format messages have been written, and thus it is OK
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// for other messages to go out to the log
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bool AP_Logger_Backend::WriteBlockCheckStartupMessages()
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{
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#if APM_BUILD_TYPE(APM_BUILD_Replay)
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return true;
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#endif
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if (_startup_messagewriter->fmt_done()) {
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return true;
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}
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if (_writing_startup_messages) {
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// we have been called by a messagewriter, so writing is OK
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return true;
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}
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if (!_startup_messagewriter->finished() &&
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!hal.scheduler->in_main_thread()) {
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// only the main thread may write startup messages out
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return false;
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}
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// we're not writing startup messages, so this must be some random
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// caller hoping to write blocks out. Push out log blocks - we
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// might end up clearing the buffer.....
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push_log_blocks();
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// even if we did finish writing startup messages, we can't
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// permit any message to go in as its timestamp will be before
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// any we wrote in. Time going backwards annoys log readers.
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// sorry! currently busy writing out startup messages...
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return false;
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}
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// source more messages from the startup message writer:
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void AP_Logger_Backend::WriteMoreStartupMessages()
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{
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if (_startup_messagewriter->finished()) {
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return;
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}
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_writing_startup_messages = true;
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_startup_messagewriter->process();
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_writing_startup_messages = false;
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}
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/*
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* support for Write():
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*/
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bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
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{
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// get log structure from front end:
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char ls_name[LS_NAME_SIZE] = {};
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char ls_format[LS_FORMAT_SIZE] = {};
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char ls_labels[LS_LABELS_SIZE] = {};
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char ls_units[LS_UNITS_SIZE] = {};
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char ls_multipliers[LS_MULTIPLIERS_SIZE] = {};
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struct LogStructure logstruct = {
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// these will be overwritten, but need to keep the compiler happy:
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0,
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0,
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ls_name,
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ls_format,
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ls_labels,
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ls_units,
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ls_multipliers
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};
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if (!_front.fill_log_write_logstructure(logstruct, msg_type)) {
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// this is a bug; we've been asked to write out the FMT
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// message for a msg_type, but the frontend can't supply the
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// required information
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AP::internalerror().error(AP_InternalError::error_t::logger_missing_logstructure);
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return false;
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}
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if (!Write_Format(&logstruct)) {
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return false;
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}
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if (!Write_Format_Units(&logstruct)) {
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return false;
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}
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return true;
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}
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bool AP_Logger_Backend::Write(const uint8_t msg_type, va_list arg_list, bool is_critical)
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{
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// stack-allocate a buffer so we can WriteBlock(); this could be
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// 255 bytes! If we were willing to lose the WriteBlock
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// abstraction we could do WriteBytes() here instead?
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const char *fmt = nullptr;
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uint8_t msg_len;
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AP_Logger::log_write_fmt *f;
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for (f = _front.log_write_fmts; f; f=f->next) {
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if (f->msg_type == msg_type) {
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fmt = f->fmt;
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msg_len = f->msg_len;
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break;
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}
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}
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if (fmt == nullptr) {
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AP::internalerror().error(AP_InternalError::error_t::logger_logwrite_missingfmt);
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return false;
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}
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if (bufferspace_available() < msg_len) {
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return false;
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}
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uint8_t buffer[msg_len];
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uint8_t offset = 0;
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buffer[offset++] = HEAD_BYTE1;
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buffer[offset++] = HEAD_BYTE2;
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buffer[offset++] = msg_type;
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for (uint8_t i=0; i<strlen(fmt); i++) {
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uint8_t charlen = 0;
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switch(fmt[i]) {
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case 'b': {
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int8_t tmp = va_arg(arg_list, int);
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memcpy(&buffer[offset], &tmp, sizeof(int8_t));
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offset += sizeof(int8_t);
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break;
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}
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case 'h':
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case 'c': {
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int16_t tmp = va_arg(arg_list, int);
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memcpy(&buffer[offset], &tmp, sizeof(int16_t));
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offset += sizeof(int16_t);
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break;
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}
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case 'd': {
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double tmp = va_arg(arg_list, double);
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memcpy(&buffer[offset], &tmp, sizeof(double));
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offset += sizeof(double);
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break;
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}
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case 'i':
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case 'L':
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case 'e': {
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int32_t tmp = va_arg(arg_list, int);
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memcpy(&buffer[offset], &tmp, sizeof(int32_t));
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offset += sizeof(int32_t);
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break;
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}
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case 'f': {
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float tmp = va_arg(arg_list, double);
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memcpy(&buffer[offset], &tmp, sizeof(float));
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offset += sizeof(float);
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break;
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}
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case 'n':
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charlen = 4;
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break;
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case 'M':
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case 'B': {
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uint8_t tmp = va_arg(arg_list, int);
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memcpy(&buffer[offset], &tmp, sizeof(uint8_t));
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offset += sizeof(uint8_t);
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break;
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}
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case 'H':
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case 'C': {
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uint16_t tmp = va_arg(arg_list, int);
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memcpy(&buffer[offset], &tmp, sizeof(uint16_t));
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offset += sizeof(uint16_t);
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break;
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}
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case 'I':
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case 'E': {
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uint32_t tmp = va_arg(arg_list, uint32_t);
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memcpy(&buffer[offset], &tmp, sizeof(uint32_t));
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offset += sizeof(uint32_t);
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break;
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}
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case 'N':
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charlen = 16;
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break;
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case 'Z':
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charlen = 64;
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break;
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case 'q': {
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int64_t tmp = va_arg(arg_list, int64_t);
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memcpy(&buffer[offset], &tmp, sizeof(int64_t));
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offset += sizeof(int64_t);
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break;
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}
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case 'Q': {
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uint64_t tmp = va_arg(arg_list, uint64_t);
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memcpy(&buffer[offset], &tmp, sizeof(uint64_t));
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offset += sizeof(uint64_t);
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break;
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}
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case 'a': {
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int16_t *tmp = va_arg(arg_list, int16_t*);
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const uint8_t bytes = 32*2;
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memcpy(&buffer[offset], tmp, bytes);
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offset += bytes;
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break;
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}
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}
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if (charlen != 0) {
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char *tmp = va_arg(arg_list, char*);
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memcpy(&buffer[offset], tmp, charlen);
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offset += charlen;
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}
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}
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return WritePrioritisedBlock(buffer, msg_len, is_critical);
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}
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bool AP_Logger_Backend::StartNewLogOK() const
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{
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if (logging_started()) {
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return false;
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}
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if (_front._log_bitmask == 0) {
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return false;
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}
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if (_front.in_log_download()) {
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return false;
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}
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if (!hal.scheduler->in_main_thread()) {
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return false;
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}
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return true;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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void AP_Logger_Backend::validate_WritePrioritisedBlock(const void *pBuffer,
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uint16_t size)
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{
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// just check the first few packets to avoid too much overhead
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// (finding the structures is expensive)
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static uint16_t count = 0;
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if (count > 65534) {
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return;
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}
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count++;
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// we assume here that we ever WritePrioritisedBlock for a single
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// message. If this assumption becomes false we can't do these
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// checks.
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if (size < 3) {
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AP_HAL::panic("Short prioritised block");
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}
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if (((uint8_t*)pBuffer)[0] != HEAD_BYTE1 ||
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((uint8_t*)pBuffer)[1] != HEAD_BYTE2) {
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AP_HAL::panic("Not passed a message");
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}
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const uint8_t type = ((uint8_t*)pBuffer)[2];
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uint8_t type_len;
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const struct LogStructure *s = _front.structure_for_msg_type(type);
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if (s == nullptr) {
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const struct AP_Logger::log_write_fmt *t = _front.log_write_fmt_for_msg_type(type);
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if (t == nullptr) {
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AP_HAL::panic("No structure for msg_type=%u", type);
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}
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type_len = t->msg_len;
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} else {
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type_len = s->msg_len;
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}
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if (type_len != size) {
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char name[5] = {}; // get a null-terminated string
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memcpy(name, s->name, 4);
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AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)\n",
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type, name, type_len, size);
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}
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}
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#endif
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bool AP_Logger_Backend::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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validate_WritePrioritisedBlock(pBuffer, size);
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#endif
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if (!ShouldLog(is_critical)) {
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return false;
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}
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if (StartNewLogOK()) {
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start_new_log();
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}
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if (!WritesOK()) {
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return false;
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}
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return _WritePrioritisedBlock(pBuffer, size, is_critical);
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}
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bool AP_Logger_Backend::ShouldLog(bool is_critical)
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{
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if (!_front.WritesEnabled()) {
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return false;
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}
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if (!_initialised) {
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return false;
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}
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if (!_startup_messagewriter->finished() &&
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!hal.scheduler->in_main_thread()) {
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// only the main thread may write startup messages out
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return false;
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}
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if (is_critical && have_logged_armed && !_front._params.file_disarm_rot) {
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// if we have previously logged while armed then we log all
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// critical messages from then on. That fixes a problem where
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// logs show the wrong flight mode if you disarm then arm again
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return true;
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}
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if (!_front.vehicle_is_armed() && !_front.log_while_disarmed()) {
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return false;
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}
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if (_front.vehicle_is_armed()) {
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have_logged_armed = true;
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}
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return true;
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}
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bool AP_Logger_Backend::Write_MessageF(const char *fmt, ...)
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{
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char msg[65] {}; // sizeof(log_Message.msg) + null-termination
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va_list ap;
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va_start(ap, fmt);
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hal.util->vsnprintf(msg, sizeof(msg), fmt, ap);
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va_end(ap);
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return Write_Message(msg);
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}
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// Write rally points
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bool AP_Logger_Backend::Write_RallyPoint(uint8_t total,
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uint8_t sequence,
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const RallyLocation &rally_point)
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{
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const struct log_Rally pkt_rally{
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LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
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time_us : AP_HAL::micros64(),
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total : total,
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sequence : sequence,
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latitude : rally_point.lat,
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longitude : rally_point.lng,
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altitude : rally_point.alt
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};
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return WriteBlock(&pkt_rally, sizeof(pkt_rally));
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}
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// Write rally points
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void AP_Logger_Backend::Write_Rally()
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{
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LoggerMessageWriter_WriteAllRallyPoints writer;
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writer.set_logger_backend(this);
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writer.process();
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}
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