PX4-Autopilot/src/modules/logger/log_writer.cpp

/****************************************************************************
 *
 *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include "log_writer.h"

namespace px4
{
namespace logger
{

LogWriter::LogWriter(Backend configured_backend, size_t file_buffer_size, unsigned int queue_size)
	: _backend(configured_backend)
{
	if (configured_backend & BackendFile) {
		_log_writer_file_for_write = _log_writer_file = new LogWriterFile(file_buffer_size);

		if (!_log_writer_file) {
			PX4_ERR("LogWriterFile allocation failed");
		}
	}

	if (configured_backend & BackendMavlink) {
		_log_writer_mavlink_for_write = _log_writer_mavlink = new LogWriterMavlink(queue_size);

		if (!_log_writer_mavlink) {
			PX4_ERR("LogWriterMavlink allocation failed");
		}
	}
}

bool LogWriter::init()
{
	if (_log_writer_file) {
		if (!_log_writer_file->init()) {
			PX4_ERR("alloc failed");
			return false;
		}

		int ret = _log_writer_file->thread_start();

		if (ret) {
			PX4_ERR("failed to create writer thread (%i)", ret);
			return false;
		}
	}

	if (_log_writer_mavlink) {
		if (!_log_writer_mavlink->init()) {
			PX4_ERR("mavlink init failed");
			return false;
		}
	}

	return true;
}

LogWriter::~LogWriter()
{
	if (_log_writer_file) {
		delete (_log_writer_file);
	}

	if (_log_writer_mavlink) {
		delete (_log_writer_mavlink);
	}
}

bool LogWriter::is_started() const
{
	bool ret = false;

	if (_log_writer_file) {
		ret = _log_writer_file->is_started();
	}

	if (_log_writer_mavlink) {
		ret = ret || _log_writer_mavlink->is_started();
	}

	return ret;
}

bool LogWriter::is_started(Backend query_backend) const
{
	if (query_backend == BackendFile && _log_writer_file) {
		return _log_writer_file->is_started();
	}

	if (query_backend == BackendMavlink && _log_writer_mavlink) {
		return _log_writer_mavlink->is_started();
	}

	return false;
}

void LogWriter::start_log_file(const char *filename)
{
	if (_log_writer_file) {
		_log_writer_file->start_log(filename);
	}
}

void LogWriter::stop_log_file()
{
	if (_log_writer_file) {
		_log_writer_file->stop_log();
	}
}

void LogWriter::start_log_mavlink()
{
	if (_log_writer_mavlink) {
		_log_writer_mavlink->start_log();
	}
}

void LogWriter::stop_log_mavlink()
{
	if (_log_writer_mavlink) {
		_log_writer_mavlink->stop_log();
	}
}

void LogWriter::thread_stop()
{
	if (_log_writer_file) {
		_log_writer_file->thread_stop();
	}
}

int LogWriter::write_message(void *ptr, size_t size, uint64_t dropout_start)
{
	int ret_file = 0, ret_mavlink = 0;

	if (_log_writer_file_for_write) {
		ret_file = _log_writer_file_for_write->write_message(ptr, size, dropout_start);
	}

	if (_log_writer_mavlink_for_write) {
		ret_mavlink = _log_writer_mavlink_for_write->write_message(ptr, size);
	}

	// file backend errors takes precedence
	if (ret_file != 0) {
		return ret_file;
	}

	return ret_mavlink;
}

void LogWriter::select_write_backend(Backend sel_backend)
{
	if (sel_backend & BackendFile) {
		_log_writer_file_for_write = _log_writer_file;

	} else {
		_log_writer_file_for_write = nullptr;
	}

	if (sel_backend & BackendMavlink) {
		_log_writer_mavlink_for_write = _log_writer_mavlink;

	} else {
		_log_writer_mavlink_for_write = nullptr;
	}
}

}
}