ardupilot/libraries/DataFlash/DataFlash_Backend.h

145 lines
4.7 KiB
C++

#ifndef DATAFLASH_BACKEND_H
#define DATAFLASH_BACKEND_H
#include "DataFlash.h"
class DFMessageWriter_DFLogStart;
class DataFlash_Backend
{
public:
FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
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) = 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);
}
virtual bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
// 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 void LogReadProcess(const uint16_t list_entry,
uint16_t start_page, uint16_t end_page,
print_mode_fn printMode,
AP_HAL::BetterStream *port) = 0;
virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0;
void EnableWrites(bool enable) { _writes_enabled = enable; }
bool logging_started(void) const { return log_write_started; }
// initialisation this really shouldn't take structure and
// num_types, however the CLI LogReadProcess function requires it.
// That function needs to be split.
virtual void Init() {
_writes_enabled = true;
}
void set_mission(const AP_Mission *mission);
virtual uint16_t bufferspace_available() = 0;
virtual uint16_t start_new_log(void) = 0;
bool log_write_started;
void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &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;
virtual void WroteStartupFormat() { }
virtual void WroteStartupParam() { }
void Log_Write_EntireMission(const AP_Mission &mission);
bool Log_Write_Format(const struct LogStructure *structure);
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
bool Log_Write_Message(const char *message);
bool Log_Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd);
bool Log_Write_Mode(uint8_t mode);;
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);
protected:
uint32_t dropped;
uint8_t internal_errors; // uint8_t - wishful thinking?
DataFlash_Class &_front;
virtual void periodic_10Hz(const uint32_t now);
virtual void periodic_1Hz(const uint32_t now);
virtual void periodic_fullrate(const uint32_t now);
/*
read and print a log entry using the format strings from the given structure
*/
void _print_log_entry(uint8_t msg_type,
print_mode_fn print_mode,
AP_HAL::BetterStream *port);
bool _writes_enabled = false;
/*
read a block
*/
virtual bool ReadBlock(void *pkt, uint16_t size) = 0;
virtual bool WriteBlockCheckStartupMessages();
virtual void WriteMoreStartupMessages();
virtual void push_log_blocks();
DFMessageWriter_DFLogStart *_startup_messagewriter;
bool _writing_startup_messages;
uint32_t _internal_errors;
uint32_t _dropped;
private:
uint32_t _last_periodic_1Hz;
uint32_t _last_periodic_10Hz;
};
#endif