mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
#include "DataFlashFileReader.h"
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#include <fcntl.h>
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#include <string.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <unistd.h>
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bool DataFlashFileReader::open_log(const char *logfile)
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{
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fd = ::open(logfile, O_RDONLY|O_CLOEXEC);
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if (fd == -1) {
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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 DataFlashFileReader::update(char type[5])
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{
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uint8_t hdr[3];
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if (::read(fd, hdr, 3) != 3) {
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return false;
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}
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if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
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printf("bad log header\n");
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return false;
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}
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if (hdr[2] == LOG_FORMAT_MSG) {
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struct log_Format f;
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memcpy(&f, hdr, 3);
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if (::read(fd, &f.type, sizeof(f)-3) != sizeof(f)-3) {
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return false;
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}
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memcpy(&formats[f.type], &f, sizeof(formats[f.type]));
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strncpy(type, "FMT", 3);
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type[3] = 0;
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return handle_log_format_msg(f);
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}
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if (!done_format_msgs) {
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done_format_msgs = true;
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end_format_msgs();
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}
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const struct log_Format &f = formats[hdr[2]];
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if (f.length == 0) {
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// can't just throw these away as the format specifies the
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// number of bytes in the message
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::printf("No format defined for type (%d)\n", hdr[2]);
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exit(1);
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}
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uint8_t msg[f.length];
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memcpy(msg, hdr, 3);
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if (::read(fd, &msg[3], f.length-3) != f.length-3) {
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return false;
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}
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strncpy(type, f.name, 4);
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type[4] = 0;
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return handle_msg(f,msg);
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}
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