ardupilot/libraries/DataFlash/DataFlash_File.h

128 lines
3.8 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
DataFlash logging - file oriented variant
This uses posix file IO to create log files called logNN.dat in the
given directory
*/
#ifndef DataFlash_File_h
#define DataFlash_File_h
#if HAL_OS_POSIX_IO
#include "DataFlash_Backend.h"
class DataFlash_File : public DataFlash_Backend
{
public:
// constructor
DataFlash_File(DataFlash_Class &front, const char *log_directory);
// initialisation
void Init(const struct LogStructure *structure, uint8_t num_types);
bool CardInserted(void);
// erase handling
void EraseAll();
// possibly time-consuming preparation handling:
bool NeedPrep();
void Prep();
/* Write a block of data at current offset */
bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
uint16_t bufferspace_available();
// high level interface
uint16_t find_last_log() override;
void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
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);
uint16_t get_num_logs() override;
uint16_t start_new_log(void);
void LogReadProcess(const uint16_t log_num,
uint16_t start_page, uint16_t end_page,
print_mode_fn print_mode,
AP_HAL::BetterStream *port);
void DumpPageInfo(AP_HAL::BetterStream *port);
void ShowDeviceInfo(AP_HAL::BetterStream *port);
void ListAvailableLogs(AP_HAL::BetterStream *port);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
void flush(void);
#endif
void periodic_fullrate(const uint32_t now);
private:
int _write_fd;
int _read_fd;
uint16_t _read_fd_log_num;
uint32_t _read_offset;
uint32_t _write_offset;
volatile bool _initialised;
volatile bool _open_error;
const char *_log_directory;
/*
read a block
*/
bool ReadBlock(void *pkt, uint16_t size);
uint16_t _log_num_from_list_entry(const uint16_t list_entry);
// possibly time-consuming preparations handling
void Prep_MinSpace();
uint16_t find_oldest_log();
int64_t disk_space_avail();
int64_t disk_space();
float avail_space_percent();
bool file_exists(const char *filename) const;
bool log_exists(const uint16_t lognum) const;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// I always seem to have less than 10% free space on my laptop:
const float min_avail_space_percent = 0.1f;
#else
const float min_avail_space_percent = 10.0f;
#endif
// write buffer
uint8_t *_writebuf;
uint16_t _writebuf_size;
const uint16_t _writebuf_chunk;
volatile uint16_t _writebuf_head;
volatile uint16_t _writebuf_tail;
uint32_t _last_write_time;
/* construct a file name given a log number. Caller must free. */
char *_log_file_name(const uint16_t log_num) const;
char *_lastlog_file_name() const;
uint32_t _get_log_size(const uint16_t log_num) const;
uint32_t _get_log_time(const uint16_t log_num) const;
void stop_logging(void);
void _io_timer(void);
uint16_t critical_message_reserved_space() const {
// possibly make this a proportional to buffer size?
return 1024;
};
uint16_t non_messagewriter_message_reserved_space() const {
// possibly make this a proportional to buffer size?
return 1024;
};
// performance counters
AP_HAL::Util::perf_counter_t _perf_write;
AP_HAL::Util::perf_counter_t _perf_fsync;
AP_HAL::Util::perf_counter_t _perf_errors;
AP_HAL::Util::perf_counter_t _perf_overruns;
};
#endif // HAL_OS_POSIX_IO
#endif // DataFlash_File_h