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Handling missing data requests without clearing session.

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Letting stream handle all transfers.
Tested and fully working with new QGC PR.
This commit is contained in:
dogmaphobic
2016-01-05 01:00:48 -05:00
parent b4e69ccd4b
commit c0773c0157
1 changed files with 33 additions and 15 deletions
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src/modules/mavlink/mavlink_log_handler.cpp
+33 -15
View File
@@ -40,6 +40,7 @@
#include <time.h>
#define MOUNTPOINT PX4_ROOTFSDIR "/fs/microsd"
static const char *kLogRoot = MOUNTPOINT "/log";
static const char *kLogData = MOUNTPOINT "/logdata.txt";
static const char *kTmpData = MOUNTPOINT "/$log$.txt";
@@ -52,7 +53,7 @@ static const char *kTmpData = MOUNTPOINT "/$log$.txt";
#define PX4LOG_DIRECTORY DT_DIR
#endif
// #define MAVLINK_LOG_HANDLER_VERBOSE
//#define MAVLINK_LOG_HANDLER_VERBOSE
#ifdef MAVLINK_LOG_HANDLER_VERBOSE
#define PX4LOG_WARN(fmt, ...) warnx(fmt, ##__VA_ARGS__)
@@ -158,20 +159,31 @@ MavlinkLogHandler::_log_request_list(const mavlink_message_t *msg)
{
mavlink_log_request_list_t request;
mavlink_msg_log_request_list_decode(msg, &request);
//-- Clear any existing request
if(_pLogHandlerHelper)
delete _pLogHandlerHelper;
//-- Prepare new request
_pLogHandlerHelper = new LogListHelper;
//-- Check for re-requests (data loss) or new request
if(_pLogHandlerHelper) {
_pLogHandlerHelper->current_status = LogListHelper::LOG_HANDLER_IDLE;
//-- Is this a new request?
if((request.end - request.start) > _pLogHandlerHelper->log_count) {
delete _pLogHandlerHelper;
_pLogHandlerHelper = NULL;
}
}
if(!_pLogHandlerHelper) {
//-- Prepare new request
_pLogHandlerHelper = new LogListHelper;
}
if (_pLogHandlerHelper->log_count)
{
//-- Define (and clamp) range
_pLogHandlerHelper->next_entry = request.start < _pLogHandlerHelper->log_count ? request.start : _pLogHandlerHelper->log_count - 1;
_pLogHandlerHelper->last_entry = request.end < _pLogHandlerHelper->log_count ? request.end : _pLogHandlerHelper->log_count - 1;
}
//-- Send first response (the rest, if any, is sent by the stream system)
if(_mavlink->get_free_tx_buf() > get_size())
_log_send_listing();
PX4LOG_WARN("\nMavlinkLogHandler::_log_request_list: start: %u last: %u count: %u\n",
_pLogHandlerHelper->next_entry,
_pLogHandlerHelper->last_entry,
_pLogHandlerHelper->log_count);
//-- Enable streaming
_pLogHandlerHelper->current_status = LogListHelper::LOG_HANDLER_LISTING;
}
//-------------------------------------------------------------------
@@ -206,15 +218,13 @@ MavlinkLogHandler::_log_request_data(const mavlink_message_t *msg)
if (_pLogHandlerHelper->current_log_data_remaining > request.count) {
_pLogHandlerHelper->current_log_data_remaining = request.count;
}
//-- Enable streaming
_pLogHandlerHelper->current_status = LogListHelper::LOG_HANDLER_SENDING_DATA;
//-- Send first chunck. Rest is sent by stream system.
if(_mavlink->get_free_tx_buf() > get_size())
_log_send_data();
}
//-------------------------------------------------------------------
void
MavlinkLogHandler::_log_request_erase(const mavlink_message_t *msg)
MavlinkLogHandler::_log_request_erase(const mavlink_message_t* /*msg*/)
{
/*
mavlink_log_erase_t request;
@@ -229,8 +239,9 @@ MavlinkLogHandler::_log_request_erase(const mavlink_message_t *msg)
//-------------------------------------------------------------------
void
MavlinkLogHandler::_log_request_end(const mavlink_message_t *msg)
MavlinkLogHandler::_log_request_end(const mavlink_message_t* /*msg*/)
{
PX4LOG_WARN("MavlinkLogHandler::_log_request_end\n");
if (_pLogHandlerHelper) {
delete _pLogHandlerHelper;
_pLogHandlerHelper = 0;
@@ -253,6 +264,13 @@ MavlinkLogHandler::_log_send_listing()
} else {
_pLogHandlerHelper->next_entry++;
}
PX4LOG_WARN("MavlinkLogHandler::_log_send_listing id: %u count: %u last: %u size: %u date: %u status: %d\n",
response.id,
response.num_logs,
response.last_log_num,
response.size,
response.time_utc,
_pLogHandlerHelper->current_status);
}
//-------------------------------------------------------------------
@@ -284,7 +302,7 @@ LogListHelper::LogListHelper()
: next_entry(0)
, last_entry(0)
, log_count(0)
, current_status(LOG_HANDLER_LISTING)
, current_status(LOG_HANDLER_IDLE)
, current_log_index(0)
, current_log_size(0)
, current_log_data_offset(0)