ardupilot/libraries/AP_Logger/AP_Logger_Backend.h

221 lines
7.2 KiB
C++

#pragma once
#include "AP_Logger.h"
class LoggerMessageWriter_DFLogStart;
#define MAX_LOG_FILES 500
class AP_Logger_Backend
{
public:
FUNCTOR_TYPEDEF(vehicle_startup_message_Writer, void);
AP_Logger_Backend(AP_Logger &front,
class LoggerMessageWriter_DFLogStart *writer);
vehicle_startup_message_Writer vehicle_message_writer() const;
virtual bool CardInserted(void) const = 0;
// erase handling
virtual void EraseAll() = 0;
/* Write a block of data at current offset */
bool WriteBlock(const void *pBuffer, uint16_t size) {
return WritePrioritisedBlock(pBuffer, size, false);
}
bool WriteCriticalBlock(const void *pBuffer, uint16_t size) {
return WritePrioritisedBlock(pBuffer, size, true);
}
bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
// high level interface, indexed by the position in the list of logs
virtual uint16_t find_last_log() = 0;
virtual void get_log_boundaries(uint16_t list_entry, uint32_t & start_page, uint32_t & end_page) = 0;
virtual void get_log_info(uint16_t list_entry, uint32_t &size, uint32_t &time_utc) = 0;
virtual int16_t get_log_data(uint16_t list_entry, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0;
virtual uint16_t get_num_logs() = 0;
virtual uint16_t find_oldest_log();
virtual bool logging_started(void) const = 0;
virtual void Init() = 0;
virtual uint32_t bufferspace_available() = 0;
virtual void PrepForArming();
virtual void start_new_log() { }
/* stop logging - close output files etc etc.
*
* note that this doesn't stop logging from starting up again
* immediately - e.g. AP_Logger_MAVLink might get another start
* packet from a client.
*/
virtual void stop_logging(void) = 0;
// asynchronously stop logging, status can be determined through logging_started()
virtual void stop_logging_async(void) { stop_logging(); }
void Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
void Fill_Format_Units(const struct LogStructure *s, struct log_Format_Units &pkt);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// currently only AP_Logger_File support this:
virtual void flush(void) { }
#endif
// for Logger_MAVlink
virtual void remote_log_block_status_msg(const GCS_MAVLINK &link,
const mavlink_message_t &msg) { }
// end for Logger_MAVlink
virtual void periodic_tasks();
uint8_t num_types() const;
const struct LogStructure *structure(uint8_t structure) const;
uint8_t num_units() const;
const struct UnitStructure *unit(uint8_t unit) const;
uint8_t num_multipliers() const;
const struct MultiplierStructure *multiplier(uint8_t multiplier) const;
bool Write_EntireMission();
bool Write_RallyPoint(uint8_t total,
uint8_t sequence,
const RallyLocation &rally_point);
bool Write_Rally();
bool Write_Format(const struct LogStructure *structure);
bool Write_Message(const char *message);
bool Write_MessageF(const char *fmt, ...);
bool Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd);
bool Write_Mode(uint8_t mode, const ModeReason reason);
bool Write_Parameter(const char *name, float value);
bool Write_Parameter(const AP_Param *ap,
const AP_Param::ParamToken &token,
enum ap_var_type type);
uint32_t num_dropped(void) const {
return _dropped;
}
/*
* Write support
*/
// write a FMT message out (if it hasn't been done already).
// Returns true if the FMT message has ever been written.
bool Write_Emit_FMT(uint8_t msg_type);
// write a log message out to the log of msg_type type, with
// values contained in arg_list:
bool Write(uint8_t msg_type, va_list arg_list, bool is_critical=false);
// these methods are used when reporting system status over mavlink
virtual bool logging_enabled() const;
virtual bool logging_failed() const = 0;
// We may need to make sure data is loggable before starting the
// EKF; when allow_start_ekf we should be able to log that data
bool allow_start_ekf() const;
virtual void vehicle_was_disarmed();
bool Write_Unit(const struct UnitStructure *s);
bool Write_Multiplier(const struct MultiplierStructure *s);
bool Write_Format_Units(const struct LogStructure *structure);
virtual void io_timer(void) {}
protected:
AP_Logger &_front;
virtual void periodic_10Hz(const uint32_t now);
virtual void periodic_1Hz();
virtual void periodic_fullrate();
bool ShouldLog(bool is_critical);
virtual bool WritesOK() const = 0;
virtual bool StartNewLogOK() const;
// called by PrepForArming to actually start logging
virtual void PrepForArming_start_logging(void) {
start_new_log();
}
/*
read a block
*/
virtual bool WriteBlockCheckStartupMessages();
virtual void WriteMoreStartupMessages();
virtual void push_log_blocks();
LoggerMessageWriter_DFLogStart *_startup_messagewriter;
bool _writing_startup_messages;
uint16_t _cached_oldest_log;
uint32_t _dropped;
uint32_t _log_file_size_bytes;
// should we rotate when we next stop logging
bool _rotate_pending;
// must be called when a new log is being started:
virtual void start_new_log_reset_variables();
// convert between log numbering in storage and normalized numbering
uint16_t log_num_from_list_entry(const uint16_t list_entry);
uint32_t critical_message_reserved_space(uint32_t bufsize) const {
// possibly make this a proportional to buffer size?
uint32_t ret = 1024;
if (ret > bufsize) {
// in this case you will only get critical messages
ret = bufsize;
}
return ret;
};
uint32_t non_messagewriter_message_reserved_space(uint32_t bufsize) const {
// possibly make this a proportional to buffer size?
uint32_t ret = 1024;
if (ret >= bufsize) {
// need to allow messages out from the messagewriters. In
// this case while you have a messagewriter you won't get
// any other messages. This should be a corner case!
ret = 0;
}
return ret;
};
virtual bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
bool _initialised;
void df_stats_gather(uint16_t bytes_written, uint32_t space_remaining);
void df_stats_log();
void df_stats_clear();
private:
// statistics support
struct df_stats {
uint16_t blocks;
uint32_t bytes;
uint32_t buf_space_min;
uint32_t buf_space_max;
uint32_t buf_space_sigma;
};
struct df_stats stats;
uint32_t _last_periodic_1Hz;
uint32_t _last_periodic_10Hz;
bool have_logged_armed;
void Write_AP_Logger_Stats_File(const struct df_stats &_stats);
void validate_WritePrioritisedBlock(const void *pBuffer, uint16_t size);
};