mirror of https://github.com/ArduPilot/ardupilot
173 lines
5.6 KiB
C++
173 lines
5.6 KiB
C++
#pragma once
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#include "DataFlash.h"
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class DFMessageWriter_DFLogStart;
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class DataFlash_Backend
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{
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public:
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
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FUNCTOR_TYPEDEF(vehicle_startup_message_Log_Writer, void);
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DataFlash_Backend(DataFlash_Class &front,
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class DFMessageWriter_DFLogStart *writer);
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vehicle_startup_message_Log_Writer vehicle_message_writer();
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void internal_error();
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virtual bool CardInserted(void) const = 0;
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// erase handling
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virtual void EraseAll() = 0;
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virtual bool NeedPrep() = 0;
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virtual void Prep() = 0;
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/* Write a block of data at current offset */
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bool WriteBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, false);
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}
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bool WriteCriticalBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, true);
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}
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bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
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// high level interface
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virtual uint16_t find_last_log() = 0;
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virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
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virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0;
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virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0;
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virtual uint16_t get_num_logs() = 0;
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virtual void LogReadProcess(const uint16_t list_entry,
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uint16_t start_page, uint16_t end_page,
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print_mode_fn printMode,
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AP_HAL::BetterStream *port) = 0;
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virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0;
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virtual bool logging_started(void) const = 0;
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virtual void Init() { }
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void set_mission(const AP_Mission *mission);
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virtual uint32_t bufferspace_available() = 0;
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virtual void PrepForArming() { }
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virtual uint16_t start_new_log(void) = 0;
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/* stop logging - close output files etc etc.
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*
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* note that this doesn't stop logging from starting up again
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* immediately - e.g. DataFlash_MAVLink might get another start
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* packet from a client.
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*/
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virtual void stop_logging(void) = 0;
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// currently only DataFlash_File support this:
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virtual void flush(void) { }
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#endif
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// for Dataflash_MAVlink
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virtual void remote_log_block_status_msg(mavlink_channel_t chan,
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mavlink_message_t* msg) { }
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// end for Dataflash_MAVlink
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virtual void periodic_tasks();
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uint8_t num_types() const;
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const struct LogStructure *structure(uint8_t structure) const;
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void Log_Write_EntireMission(const AP_Mission &mission);
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bool Log_Write_Format(const struct LogStructure *structure);
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bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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bool Log_Write_Message(const char *message);
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bool Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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bool Log_Write_Mode(uint8_t mode, uint8_t reason = 0);
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bool Log_Write_Parameter(const char *name, float value);
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bool Log_Write_Parameter(const AP_Param *ap,
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const AP_Param::ParamToken &token,
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enum ap_var_type type);
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uint32_t num_dropped(void) const {
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return _dropped;
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}
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/*
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* Log_Write support
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*/
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// write a FMT message out (if it hasn't been done already).
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// Returns true if the FMT message has ever been written.
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bool Log_Write_Emit_FMT(uint8_t msg_type);
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// write a log message out to the log of msg_type type, with
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// values contained in arg_list:
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bool Log_Write(uint8_t msg_type, va_list arg_list, bool is_critical=false);
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// these methods are used when reporting system status over mavlink
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virtual bool logging_enabled() const = 0;
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virtual bool logging_failed() const = 0;
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virtual void vehicle_was_disarmed() { };
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protected:
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uint32_t dropped;
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uint8_t internal_errors; // uint8_t - wishful thinking?
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DataFlash_Class &_front;
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virtual void periodic_10Hz(const uint32_t now);
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virtual void periodic_1Hz(const uint32_t now);
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virtual void periodic_fullrate(const uint32_t now);
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/*
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read and print a log entry using the format strings from the given structure
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*/
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void _print_log_entry(uint8_t msg_type,
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print_mode_fn print_mode,
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AP_HAL::BetterStream *port);
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bool ShouldLog() const;
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virtual bool WritesOK() const = 0;
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virtual bool StartNewLogOK() const;
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/*
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read a block
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*/
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virtual bool ReadBlock(void *pkt, uint16_t size) = 0;
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virtual bool WriteBlockCheckStartupMessages();
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virtual void WriteMoreStartupMessages();
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virtual void push_log_blocks();
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DFMessageWriter_DFLogStart *_startup_messagewriter;
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bool _writing_startup_messages;
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uint32_t _internal_errors;
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uint32_t _dropped;
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// must be called when a new log is being started:
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virtual void start_new_log_reset_variables();
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virtual bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
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bool _initialised;
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private:
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uint32_t _last_periodic_1Hz;
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uint32_t _last_periodic_10Hz;
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};
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