mirror of https://github.com/ArduPilot/ardupilot
114 lines
2.9 KiB
C++
114 lines
2.9 KiB
C++
#pragma once
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#include "DataFlash_Backend.h"
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#include <AP_Mission/AP_Mission.h>
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class DFMessageWriter {
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public:
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virtual void reset() = 0;
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virtual void process() = 0;
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virtual bool finished() { return _finished; }
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virtual void set_dataflash_backend(class DataFlash_Backend *backend) {
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_dataflash_backend = backend;
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}
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protected:
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bool _finished = false;
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DataFlash_Backend *_dataflash_backend = nullptr;
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};
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class DFMessageWriter_WriteSysInfo : public DFMessageWriter {
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public:
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void reset() override;
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void process() override;
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private:
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enum write_sysinfo_blockwriter_stage {
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ws_blockwriter_stage_init,
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ws_blockwriter_stage_firmware_string,
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ws_blockwriter_stage_git_versions,
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ws_blockwriter_stage_system_id
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};
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write_sysinfo_blockwriter_stage stage = ws_blockwriter_stage_init;
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};
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class DFMessageWriter_WriteEntireMission : public DFMessageWriter {
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public:
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void reset() override;
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void process() override;
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void set_mission(const AP_Mission *mission);
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private:
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enum entire_mission_blockwriter_stage {
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em_blockwriter_stage_init,
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em_blockwriter_stage_write_new_mission_message,
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em_blockwriter_stage_write_mission_items,
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em_blockwriter_stage_done
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};
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const AP_Mission *_mission = nullptr;
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uint16_t _mission_number_to_send = 0;
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entire_mission_blockwriter_stage stage = em_blockwriter_stage_init;
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};
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class DFMessageWriter_DFLogStart : public DFMessageWriter {
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public:
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DFMessageWriter_DFLogStart() :
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_writesysinfo(),
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_writeentiremission()
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{
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}
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virtual void set_dataflash_backend(class DataFlash_Backend *backend) override {
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DFMessageWriter::set_dataflash_backend(backend);
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_writesysinfo.set_dataflash_backend(backend);
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_writeentiremission.set_dataflash_backend(backend);
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}
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void reset() override;
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void process() override;
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bool fmt_done() { return _fmt_done; }
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void set_mission(const AP_Mission *mission);
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private:
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enum log_start_blockwriter_stage {
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ls_blockwriter_stage_init,
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ls_blockwriter_stage_formats,
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ls_blockwriter_stage_units,
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ls_blockwriter_stage_multipliers,
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ls_blockwriter_stage_format_units,
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ls_blockwriter_stage_parms,
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ls_blockwriter_stage_sysinfo,
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ls_blockwriter_stage_write_entire_mission,
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ls_blockwriter_stage_vehicle_messages,
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ls_blockwriter_stage_done,
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};
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bool _fmt_done = false;
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log_start_blockwriter_stage stage = ls_blockwriter_stage_init;
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uint16_t next_format_to_send;
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uint8_t _next_unit_to_send;
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uint8_t _next_format_unit_to_send;
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uint8_t _next_multiplier_to_send;
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AP_Param::ParamToken token;
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AP_Param *ap;
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enum ap_var_type type;
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DFMessageWriter_WriteSysInfo _writesysinfo;
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DFMessageWriter_WriteEntireMission _writeentiremission;
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};
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