mirror of https://github.com/ArduPilot/ardupilot
292 lines
8.8 KiB
C++
292 lines
8.8 KiB
C++
#include "AP_Common/AP_FWVersion.h"
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#include "LoggerMessageWriter.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "ap_version.h"
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#undef FORCE_VERSION_H_INCLUDE
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extern const AP_HAL::HAL& hal;
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/* LogStartup - these are simple state machines which allow us to
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* trickle out messages to the log files
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*/
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void LoggerMessageWriter::reset()
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{
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_finished = false;
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}
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void LoggerMessageWriter_DFLogStart::reset()
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{
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LoggerMessageWriter::reset();
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_fmt_done = false;
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_writesysinfo.reset();
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_writeentiremission.reset();
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_writeallrallypoints.reset();
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stage = ls_blockwriter_stage_formats;
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next_format_to_send = 0;
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_next_unit_to_send = 0;
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_next_multiplier_to_send = 0;
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_next_format_unit_to_send = 0;
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ap = AP_Param::first(&token, &type);
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}
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void LoggerMessageWriter_DFLogStart::process()
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{
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switch(stage) {
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case ls_blockwriter_stage_formats:
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// write log formats so the log is self-describing
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while (next_format_to_send < _logger_backend->num_types()) {
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if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
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return; // call me again!
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}
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next_format_to_send++;
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}
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_fmt_done = true;
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stage = ls_blockwriter_stage_units;
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FALLTHROUGH;
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case ls_blockwriter_stage_units:
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while (_next_unit_to_send < _logger_backend->num_units()) {
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if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
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return; // call me again!
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}
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_next_unit_to_send++;
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}
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stage = ls_blockwriter_stage_multipliers;
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FALLTHROUGH;
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case ls_blockwriter_stage_multipliers:
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while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
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if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
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return; // call me again!
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}
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_next_multiplier_to_send++;
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}
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stage = ls_blockwriter_stage_units;
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FALLTHROUGH;
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case ls_blockwriter_stage_format_units:
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while (_next_format_unit_to_send < _logger_backend->num_types()) {
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if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
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return; // call me again!
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}
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_next_format_unit_to_send++;
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}
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stage = ls_blockwriter_stage_parms;
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FALLTHROUGH;
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case ls_blockwriter_stage_parms:
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while (ap) {
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if (!_logger_backend->Write_Parameter(ap, token, type)) {
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return;
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}
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ap = AP_Param::next_scalar(&token, &type);
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}
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stage = ls_blockwriter_stage_sysinfo;
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FALLTHROUGH;
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case ls_blockwriter_stage_sysinfo:
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_writesysinfo.process();
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if (!_writesysinfo.finished()) {
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return;
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}
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stage = ls_blockwriter_stage_write_entire_mission;
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FALLTHROUGH;
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case ls_blockwriter_stage_write_entire_mission:
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_writeentiremission.process();
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if (!_writeentiremission.finished()) {
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return;
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}
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stage = ls_blockwriter_stage_write_all_rally_points;
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FALLTHROUGH;
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case ls_blockwriter_stage_write_all_rally_points:
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_writeallrallypoints.process();
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if (!_writeallrallypoints.finished()) {
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return;
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}
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stage = ls_blockwriter_stage_vehicle_messages;
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FALLTHROUGH;
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case ls_blockwriter_stage_vehicle_messages:
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// we guarantee 200 bytes of space for the vehicle startup
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// messages. This allows them to be simple functions rather
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// than e.g. LoggerMessageWriter-based state machines
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if (_logger_backend->vehicle_message_writer()) {
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if (_logger_backend->bufferspace_available() < 200) {
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return;
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}
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(_logger_backend->vehicle_message_writer())();
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}
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stage = ls_blockwriter_stage_done;
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FALLTHROUGH;
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case ls_blockwriter_stage_done:
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break;
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}
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_finished = true;
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}
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void LoggerMessageWriter_WriteSysInfo::reset()
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{
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LoggerMessageWriter::reset();
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stage = ws_blockwriter_stage_formats;
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}
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void LoggerMessageWriter_WriteSysInfo::process() {
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const AP_FWVersion &fwver = AP::fwversion();
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switch(stage) {
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case ws_blockwriter_stage_formats:
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stage = ws_blockwriter_stage_firmware_string;
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FALLTHROUGH;
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case ws_blockwriter_stage_firmware_string:
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if (! _logger_backend->Write_Message(fwver.fw_string)) {
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return; // call me again
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}
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stage = ws_blockwriter_stage_git_versions;
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FALLTHROUGH;
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case ws_blockwriter_stage_git_versions:
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if (fwver.middleware_name && fwver.os_name) {
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if (! _logger_backend->Write_MessageF("%s: %s %s: %s",
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fwver.middleware_name,
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fwver.middleware_hash_str,
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fwver.os_name,
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fwver.os_hash_str)) {
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return; // call me again
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}
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} else if (fwver.os_name) {
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if (! _logger_backend->Write_MessageF("%s: %s",
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fwver.os_name,
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fwver.os_hash_str)) {
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return; // call me again
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}
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}
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stage = ws_blockwriter_stage_system_id;
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FALLTHROUGH;
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case ws_blockwriter_stage_system_id:
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char sysid[40];
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if (hal.util->get_system_id(sysid)) {
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if (! _logger_backend->Write_Message(sysid)) {
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return; // call me again
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}
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}
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stage = ws_blockwriter_stage_rc_protocol;
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FALLTHROUGH;
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case ws_blockwriter_stage_rc_protocol:
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const char *prot = hal.rcin->protocol();
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if (prot == nullptr) {
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prot = "None";
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}
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if (! _logger_backend->Write_MessageF("RC Protocol: %s", prot)) {
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return; // call me again
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}
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}
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_finished = true; // all done!
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}
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void LoggerMessageWriter_WriteAllRallyPoints::process()
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{
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const AP_Rally *_rally = AP::rally();
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if (_rally == nullptr) {
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_finished = true;
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return;
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}
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switch(stage) {
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case ar_blockwriter_stage_write_new_rally_message:
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if (! _logger_backend->Write_Message("New rally")) {
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return; // call me again
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}
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stage = ar_blockwriter_stage_write_all_rally_points;
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FALLTHROUGH;
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case ar_blockwriter_stage_write_all_rally_points:
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while (_rally_number_to_send < _rally->get_rally_total()) {
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RallyLocation rallypoint;
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if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) {
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if (!_logger_backend->Write_RallyPoint(
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_rally->get_rally_total(),
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_rally_number_to_send,
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rallypoint)) {
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return; // call me again
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}
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}
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_rally_number_to_send++;
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}
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stage = ar_blockwriter_stage_done;
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FALLTHROUGH;
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case ar_blockwriter_stage_done:
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break;
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}
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_finished = true;
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}
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void LoggerMessageWriter_WriteAllRallyPoints::reset()
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{
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LoggerMessageWriter::reset();
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stage = ar_blockwriter_stage_write_new_rally_message;
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_rally_number_to_send = 0;
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}
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void LoggerMessageWriter_WriteEntireMission::process() {
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const AP_Mission *_mission = AP::mission();
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if (_mission == nullptr) {
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_finished = true;
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return;
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}
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switch(stage) {
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case em_blockwriter_stage_write_new_mission_message:
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if (! _logger_backend->Write_Message("New mission")) {
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return; // call me again
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}
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stage = em_blockwriter_stage_write_mission_items;
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FALLTHROUGH;
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case em_blockwriter_stage_write_mission_items: {
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AP_Mission::Mission_Command cmd;
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while (_mission_number_to_send < _mission->num_commands()) {
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// upon failure to write the mission we will re-read from
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// storage; this could be improved.
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if (_mission->read_cmd_from_storage(_mission_number_to_send,cmd)) {
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if (!_logger_backend->Write_Mission_Cmd(*_mission, cmd)) {
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return; // call me again
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}
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}
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_mission_number_to_send++;
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}
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stage = em_blockwriter_stage_done;
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FALLTHROUGH;
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}
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case em_blockwriter_stage_done:
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break;
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}
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_finished = true;
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}
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void LoggerMessageWriter_WriteEntireMission::reset()
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{
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LoggerMessageWriter::reset();
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stage = em_blockwriter_stage_write_new_mission_message;
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_mission_number_to_send = 0;
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}
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