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GCS_MAVLink: move send-logs-via-mavlink code into DataFlash

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This commit is contained in:
Peter Barker 2017-06-15 16:09:02 +10:00 committed by Francisco Ferreira
parent 305531952f
commit 4c1aff03a3
2 changed files with 16 additions and 42 deletions
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48
libraries/GCS_MAVLink/GCS.h
View File

@ -129,6 +129,13 @@ public:
// call to reset the timeout window for entering the cli
void reset_cli_timeout();
bool is_high_bandwidth() { return chan == MAVLINK_COMM_0; }
// return true if this channel has hardware flow control
bool have_flow_control();
mavlink_channel_t get_chan() const { return chan; }
uint32_t get_last_heartbeat_time() const { return last_heartbeat_time; };
uint32_t last_heartbeat_time; // milliseconds
// last time we got a non-zero RSSI from RADIO_STATUS
@ -231,8 +238,6 @@ protected:
mavlink_channel_t chan;
uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }
void handle_log_send(DataFlash_Class &dataflash);
// saveable rate of each stream
AP_Int16 streamRates[NUM_STREAMS];
@ -259,7 +264,6 @@ protected:
void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);
void handle_common_message(mavlink_message_t *msg);
void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_setup_signing(const mavlink_message_t *msg);
uint8_t handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
uint8_t handle_rc_bind(const mavlink_command_long_t &packet);
@ -324,33 +328,6 @@ private:
// exists so we can separate the cli entry time from the system start time
uint32_t _cli_timeout;
uint8_t _log_listing:1; // sending log list
uint8_t _log_sending:1; // sending log data
// next log list entry to send
uint16_t _log_next_list_entry;
// last log list entry to send
uint16_t _log_last_list_entry;
// number of log files
uint16_t _log_num_logs;
// log number for data send
uint16_t _log_num_data;
// offset in log
uint32_t _log_data_offset;
// size of log file
uint32_t _log_data_size;
// number of bytes left to send
uint32_t _log_data_remaining;
// start page of log data
uint16_t _log_data_page;
// perf counters
static AP_HAL::Util::perf_counter_t _perf_packet;
static AP_HAL::Util::perf_counter_t _perf_update;
@ -415,19 +392,8 @@ private:
virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
void handle_log_request_list(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_data(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_erase(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_end(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_send_listing(DataFlash_Class &dataflash);
bool handle_log_send_data(DataFlash_Class &dataflash);
void lock_channel(mavlink_channel_t chan, bool lock);
// return true if this channel has hardware flow control
bool have_flow_control(void);
mavlink_signing_t signing;
static mavlink_signing_streams_t signing_streams;
static uint32_t last_signing_save_ms;

10
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1680,8 +1680,16 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_TIMESYNC:
handle_timesync(msg);
break;
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
/* fall through */
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
/* fall through */
case MAVLINK_MSG_ID_LOG_ERASE:
/* fall through */
case MAVLINK_MSG_ID_LOG_REQUEST_END:
/* fall through */
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
DataFlash_Class::instance()->handle_mavlink_msg(chan, msg);
DataFlash_Class::instance()->handle_mavlink_msg(*this, msg);
break;
}
}