ardupilot/libraries/DataFlash/DataFlash_Backend.h

168 lines
5.2 KiB
C++

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