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ardupilot/libraries/DataFlash/DataFlash.h

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/* ************************************************************ */
/* Test for DataFlash Log library */
/* ************************************************************ */
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <DataFlash/LogStructure.h>
#include <AP_Motors/AP_Motors.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_Beacon/AP_Beacon.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_InertialSensor/AP_InertialSensor_Backend.h>
#include <stdint.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <uORB/topics/esc_status.h>
#endif
#include "DFMessageWriter.h"
class DataFlash_Backend;
enum DataFlash_Backend_Type {
DATAFLASH_BACKEND_NONE = 0,
DATAFLASH_BACKEND_FILE = 1,
DATAFLASH_BACKEND_MAVLINK = 2,
DATAFLASH_BACKEND_BOTH = 3,
};
// fwd declarations to avoid include errors
class AC_AttitudeControl;
class AC_PosControl;
class DataFlash_Class
{
friend class DataFlash_Backend; // for _num_types
public:
FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
DataFlash_Class(const AP_Int32 &log_bitmask);
/* Do not allow copies */
DataFlash_Class(const DataFlash_Class &other) = delete;
DataFlash_Class &operator=(const DataFlash_Class&) = delete;
// get singleton instance
static DataFlash_Class *instance(void) {
return _instance;
}
void set_mission(const AP_Mission *mission);
// initialisation
void Init(const struct LogStructure *structure, uint8_t num_types);
bool CardInserted(void);
// erase handling
void EraseAll();
/* Write a block of data at current offset */
void WriteBlock(const void *pBuffer, uint16_t size);
/* Write an *important* block of data at current offset */
void WriteCriticalBlock(const void *pBuffer, uint16_t size);
// high level interface
uint16_t find_last_log() const;
void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
uint16_t get_num_logs(void);
void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer);
void PrepForArming();
void EnableWrites(bool enable) { _writes_enabled = enable; }
bool WritesEnabled() const { return _writes_enabled; }
void StopLogging();
void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(uint8_t instance, uint64_t time_us=0);
void Log_Write_RFND(const RangeFinder &rangefinder);
void Log_Write_IMU();
void Log_Write_IMUDT(uint64_t time_us, uint8_t imu_mask);
bool Log_Write_ISBH(uint16_t seqno,
AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
uint8_t instance,
uint16_t multiplier,
uint16_t sample_count,
uint64_t sample_us,
float sample_rate_hz);
bool Log_Write_ISBD(uint16_t isb_seqno,
uint16_t seqno,
const int16_t x[32],
const int16_t y[32],
const int16_t z[32]);
void Log_Write_Vibration();
void Log_Write_RCIN(void);
void Log_Write_RCOUT(void);
void Log_Write_RSSI(AP_RSSI &rssi);
void Log_Write_Baro(uint64_t time_us=0);
void Log_Write_Power(void);
void Log_Write_AHRS2(AP_AHRS &ahrs);
void Log_Write_POS(AP_AHRS &ahrs);
#if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF(AP_AHRS_NavEKF &ahrs);
#endif
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message);
void Log_Write_MessageF(const char *fmt, ...);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Log_Write_Current();
void Log_Write_Compass(const Compass &compass, uint64_t time_us=0);
void Log_Write_Mode(uint8_t mode, uint8_t reason);
void Log_Write_EntireMission(const AP_Mission &mission);
void Log_Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd);
void Log_Write_Origin(uint8_t origin_type, const Location &loc);
void Log_Write_RPM(const AP_RPM &rpm_sensor);
void Log_Write_Rate(const AP_AHRS &ahrs,
const AP_Motors &motors,
const AC_AttitudeControl &attitude_control,
const AC_PosControl &pos_control);
void Log_Write_Rally(const AP_Rally &rally);
void Log_Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
void Log_Write_AOA_SSA(AP_AHRS &ahrs);
void Log_Write_Beacon(AP_Beacon &beacon);
void Log_Write_Proximity(AP_Proximity &proximity);
void Log_Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
void Log_Write(const char *name, const char *labels, const char *fmt, ...);
void Log_Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);
void Log_WriteV(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, va_list arg_list);
// This structure provides information on the internal member data of a PID for logging purposes
struct PID_Info {
float desired;
float P;
float I;
float D;
float FF;
float AFF;
};
void Log_Write_PID(uint8_t msg_type, const PID_Info &info);
// returns true if logging of a message should be attempted
bool should_log(uint32_t mask) const;
bool logging_started(void);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// currently only DataFlash_File support this:
void flush(void);
#endif
void handle_mavlink_msg(class GCS_MAVLINK &, mavlink_message_t* msg);
void periodic_tasks(); // may want to split this into GCS/non-GCS duties
// number of blocks that have been dropped
uint32_t num_dropped(void) const;
// accesss to public parameters
bool log_while_disarmed(void) const { return _params.log_disarmed != 0; }
uint8_t log_replay(void) const { return _params.log_replay; }
vehicle_startup_message_Log_Writer _vehicle_messages;
// parameter support
static const struct AP_Param::GroupInfo var_info[];
struct {
AP_Int8 backend_types;
AP_Int8 file_bufsize; // in kilobytes
AP_Int8 file_disarm_rot;
AP_Int8 log_disarmed;
AP_Int8 log_replay;
AP_Int8 mav_bufsize; // in kilobytes
} _params;
const struct LogStructure *structure(uint16_t num) const;
const struct UnitStructure *unit(uint16_t num) const;
const struct MultiplierStructure *multiplier(uint16_t num) const;
// methods for mavlink SYS_STATUS message (send_extended_status1)
// these methods cover only the first logging backend used -
// typically DataFlash_File.
bool logging_present() const;
bool logging_enabled() const;
bool logging_failed() const;
void set_vehicle_armed(bool armed_state);
bool vehicle_is_armed() const { return _armed; }
void handle_log_send();
bool in_log_download() const { return _in_log_download; }
float quiet_nanf() const { return nanf("0x4152"); } // "AR"
double quiet_nan() const { return nan("0x4152445550490a"); } // "ARDUPI"
protected:
const struct LogStructure *_structures;
uint8_t _num_types;
const struct UnitStructure *_units = log_Units;
const struct MultiplierStructure *_multipliers = log_Multipliers;
const uint8_t _num_units = (sizeof(log_Units) / sizeof(log_Units[0]));
const uint8_t _num_multipliers = (sizeof(log_Multipliers) / sizeof(log_Multipliers[0]));
/* Write a block with specified importance */
/* might be useful if you have a boolean indicating a message is
* important... */
void WritePrioritisedBlock(const void *pBuffer, uint16_t size,
bool is_critical);
private:
#define DATAFLASH_MAX_BACKENDS 2
uint8_t _next_backend;
DataFlash_Backend *backends[DATAFLASH_MAX_BACKENDS];
const AP_Int32 &_log_bitmask;
void internal_error() const;
/*
* support for dynamic Log_Write; user-supplies name, format,
* labels and values in a single function call.
*/
// this structure looks much like struct LogStructure in
// LogStructure.h, however we need to remember a pointer value for
// efficiency of finding message types
struct log_write_fmt {
struct log_write_fmt *next;
uint8_t msg_type;
uint8_t msg_len;
uint8_t sent_mask; // bitmask of backends sent to
const char *name;
const char *fmt;
const char *labels;
const char *units;
const char *mults;
} *log_write_fmts;
// return (possibly allocating) a log_write_fmt for a name
struct log_write_fmt *msg_fmt_for_name(const char *name, const char *labels, const char *units, const char *mults, const char *fmt);
// returns true if msg_type is associated with a message
bool msg_type_in_use(uint8_t msg_type) const;
// return a msg_type which is not currently in use (or -1 if none available)
int16_t find_free_msg_type() const;
// fill LogStructure with information about msg_type
bool fill_log_write_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const;
// calculate the length of a message using fields specified in
// fmt; includes the message header
int16_t Log_Write_calc_msg_len(const char *fmt) const;
bool _armed;
#if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs);
void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs);
#endif
void Log_Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type);
void Log_Write_IMU_instance(uint64_t time_us,
uint8_t imu_instance,
enum LogMessages type);
void Log_Write_Compass_instance(const Compass &compass,
uint64_t time_us,
uint8_t mag_instance,
enum LogMessages type);
void Log_Write_Current_instance(uint64_t time_us,
uint8_t battery_instance,
enum LogMessages type,
enum LogMessages celltype);
void Log_Write_IMUDT_instance(uint64_t time_us,
uint8_t imu_instance,
enum LogMessages type);
void backend_starting_new_log(const DataFlash_Backend *backend);
private:
static DataFlash_Class *_instance;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
bool validate_structure(const struct LogStructure *logstructure, int16_t offset);
void validate_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum);
void dump_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void assert_same_fmt_for_name(const log_write_fmt *f,
const char *name,
const char *labels,
const char *units,
const char *mults,
const char *fmt) const;
const char* unit_name(const uint8_t unit_id);
double multiplier_name(const uint8_t multiplier_id);
bool seen_ids[256] = { };
#endif
void Log_Write_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing);
// possibly expensive calls to start log system:
void Prep();
bool _writes_enabled:1;
/* support for retrieving logs via mavlink: */
uint8_t _log_listing:1; // sending log list
uint8_t _log_sending:1; // sending log data
// bolean replicating old vehicle in_log_download flag:
bool _in_log_download:1;
// next log list entry to send
uint16_t _log_next_list_entry;
// last log list entry to send
uint16_t _log_last_list_entry;
// number of log files
uint16_t _log_num_logs;
// log number for data send
uint16_t _log_num_data;
// offset in log
uint32_t _log_data_offset;
// size of log file
uint32_t _log_data_size;
// number of bytes left to send
uint32_t _log_data_remaining;
// start page of log data
uint16_t _log_data_page;
GCS_MAVLINK *_log_sending_link;
bool should_handle_log_message();
void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_list(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_data(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_erase(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_request_end(class GCS_MAVLINK &, mavlink_message_t *msg);
void handle_log_send_listing();
bool handle_log_send_data();
void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
/* end support for retrieving logs via mavlink: */
};
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