Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/libraries/AP_Logger/LoggerMessageWriter.cpp

342 lines
10 KiB
C++
Raw Blame History

#include "AP_Common/AP_FWVersion.h"
#include "LoggerMessageWriter.h"
#include <AP_Scheduler/AP_Scheduler.h>
#define FORCE_VERSION_H_INCLUDE
#include "ap_version.h"
#undef FORCE_VERSION_H_INCLUDE
// the message writers are mainly called at the end of periodic_fullrate() with a budget of 300us
// until they are finished calls to Write() will fail so we want to take up as much of
// the budget as possible in order that logging can begin in earnest as early as possible
#define MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US 50
extern const AP_HAL::HAL& hal;
/* LogStartup - these are simple state machines which allow us to
* trickle out messages to the log files
*/
void LoggerMessageWriter::reset()
{
_finished = false;
}
void LoggerMessageWriter_DFLogStart::reset()
{
LoggerMessageWriter::reset();
_fmt_done = false;
_writesysinfo.reset();
_writeentiremission.reset();
_writeallrallypoints.reset();
stage = Stage::FORMATS;
next_format_to_send = 0;
_next_unit_to_send = 0;
_next_multiplier_to_send = 0;
_next_format_unit_to_send = 0;
ap = AP_Param::first(&token, &type);
}
void LoggerMessageWriter_DFLogStart::process()
{
switch(stage) {
case Stage::FORMATS:
// write log formats so the log is self-describing
while (next_format_to_send < _logger_backend->num_types()) {
if (AP::scheduler().time_available_usec() == 0) { // write out the FMT messages as fast as we can
return;
}
if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
return; // call me again!
}
next_format_to_send++;
}
_fmt_done = true;
stage = Stage::UNITS;
FALLTHROUGH;
case Stage::UNITS:
while (_next_unit_to_send < _logger_backend->num_units()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
return; // call me again!
}
_next_unit_to_send++;
}
stage = Stage::MULTIPLIERS;
FALLTHROUGH;
case Stage::MULTIPLIERS:
while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
return; // call me again!
}
_next_multiplier_to_send++;
}
stage = Stage::UNITS;
FALLTHROUGH;
case Stage::FORMAT_UNITS:
while (_next_format_unit_to_send < _logger_backend->num_types()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
return; // call me again!
}
_next_format_unit_to_send++;
}
stage = Stage::PARMS;
FALLTHROUGH;
case Stage::PARMS:
while (ap) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Parameter(ap, token, type)) {
return;
}
ap = AP_Param::next_scalar(&token, &type);
}
stage = Stage::RUNNING_SUBWRITERS;
FALLTHROUGH;
case Stage::RUNNING_SUBWRITERS:
if (!_writesysinfo.finished()) {
_writesysinfo.process();
if (!_writesysinfo.finished()) {
return;
}
}
if (!_writeentiremission.finished()) {
_writeentiremission.process();
if (!_writeentiremission.finished()) {
return;
}
}
if (!_writeallrallypoints.finished()) {
_writeallrallypoints.process();
if (!_writeallrallypoints.finished()) {
return;
}
}
stage = Stage::VEHICLE_MESSAGES;
FALLTHROUGH;
case Stage::VEHICLE_MESSAGES:
// we guarantee 200 bytes of space for the vehicle startup
// messages. This allows them to be simple functions rather
// than e.g. LoggerMessageWriter-based state machines
if (_logger_backend->vehicle_message_writer()) {
if (_logger_backend->bufferspace_available() < 200) {
return;
}
(_logger_backend->vehicle_message_writer())();
}
stage = Stage::DONE;
FALLTHROUGH;
case Stage::DONE:
break;
}
_finished = true;
}
bool LoggerMessageWriter_DFLogStart::writeentiremission()
{
if (stage != Stage::DONE) {
return false;
}
stage = Stage::RUNNING_SUBWRITERS;
_finished = false;
_writeentiremission.reset();
return true;
}
bool LoggerMessageWriter_DFLogStart::writeallrallypoints()
{
if (stage != Stage::DONE) {
return false;
}
stage = Stage::RUNNING_SUBWRITERS;
_finished = false;
_writeallrallypoints.reset();
return true;
}
void LoggerMessageWriter_WriteSysInfo::reset()
{
LoggerMessageWriter::reset();
stage = Stage::FIRMWARE_STRING;
}
void LoggerMessageWriter_WriteSysInfo::process() {
const AP_FWVersion &fwver = AP::fwversion();
switch(stage) {
case Stage::FIRMWARE_STRING:
if (! _logger_backend->Write_Message(fwver.fw_string)) {
return; // call me again
}
stage = Stage::GIT_VERSIONS;
FALLTHROUGH;
case Stage::GIT_VERSIONS:
if (fwver.middleware_name && fwver.os_name) {
if (! _logger_backend->Write_MessageF("%s: %s %s: %s",
fwver.middleware_name,
fwver.middleware_hash_str,
fwver.os_name,
fwver.os_hash_str)) {
return; // call me again
}
} else if (fwver.os_name) {
if (! _logger_backend->Write_MessageF("%s: %s",
fwver.os_name,
fwver.os_hash_str)) {
return; // call me again
}
}
stage = Stage::SYSTEM_ID;
FALLTHROUGH;
case Stage::SYSTEM_ID:
char sysid[40];
if (hal.util->get_system_id(sysid)) {
if (! _logger_backend->Write_Message(sysid)) {
return; // call me again
}
}
stage = Stage::PARAM_SPACE_USED;
FALLTHROUGH;
case Stage::PARAM_SPACE_USED:
if (! _logger_backend->Write_MessageF("Param space used: %u/%u", AP_Param::storage_used(), AP_Param::storage_size())) {
return; // call me again
}
stage = Stage::RC_PROTOCOL;
FALLTHROUGH;
case Stage::RC_PROTOCOL:
const char *prot = hal.rcin->protocol();
if (prot == nullptr) {
prot = "None";
}
if (! _logger_backend->Write_MessageF("RC Protocol: %s", prot)) {
return; // call me again
}
}
_finished = true; // all done!
}
void LoggerMessageWriter_WriteAllRallyPoints::process()
{
const AP_Rally *_rally = AP::rally();
if (_rally == nullptr) {
_finished = true;
return;
}
switch(stage) {
case Stage::WRITE_NEW_RALLY_MESSAGE:
if (! _logger_backend->Write_Message("New rally")) {
return; // call me again
}
stage = Stage::WRITE_ALL_RALLY_POINTS;
FALLTHROUGH;
case Stage::WRITE_ALL_RALLY_POINTS:
while (_rally_number_to_send < _rally->get_rally_total()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
RallyLocation rallypoint;
if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) {
if (!_logger_backend->Write_RallyPoint(
_rally->get_rally_total(),
_rally_number_to_send,
rallypoint)) {
return; // call me again
}
}
_rally_number_to_send++;
}
stage = Stage::DONE;
FALLTHROUGH;
case Stage::DONE:
break;
}
_finished = true;
}
void LoggerMessageWriter_WriteAllRallyPoints::reset()
{
LoggerMessageWriter::reset();
stage = Stage::WRITE_NEW_RALLY_MESSAGE;
_rally_number_to_send = 0;
}
void LoggerMessageWriter_WriteEntireMission::process() {
const AP_Mission *_mission = AP::mission();
if (_mission == nullptr) {
_finished = true;
return;
}
switch(stage) {
case Stage::WRITE_NEW_MISSION_MESSAGE:
if (! _logger_backend->Write_Message("New mission")) {
return; // call me again
}
stage = Stage::WRITE_MISSION_ITEMS;
FALLTHROUGH;
case Stage::WRITE_MISSION_ITEMS: {
AP_Mission::Mission_Command cmd;
while (_mission_number_to_send < _mission->num_commands()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
// upon failure to write the mission we will re-read from
// storage; this could be improved.
if (_mission->read_cmd_from_storage(_mission_number_to_send,cmd)) {
if (!_logger_backend->Write_Mission_Cmd(*_mission, cmd)) {
return; // call me again
}
}
_mission_number_to_send++;
}
stage = Stage::DONE;
FALLTHROUGH;
}
case Stage::DONE:
break;
}
_finished = true;
}
void LoggerMessageWriter_WriteEntireMission::reset()
{
LoggerMessageWriter::reset();
stage = Stage::WRITE_NEW_MISSION_MESSAGE;
_mission_number_to_send = 0;
}
Reference in New Issue View Git Blame Copy Permalink