mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
120 lines
3.7 KiB
C++
120 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/// @file mavlink_log_handler.h
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/// @author px4dev, Gus Grubba <mavlink@grubba.com>
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#include <dirent.h>
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#include <queue.h>
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#include <time.h>
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#include <stdio.h>
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#include <cstdbool>
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#include <v2.0/mavlink_types.h>
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#include <drivers/drv_hrt.h>
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class Mavlink;
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// Log Listing Helper
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class LogListHelper
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{
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public:
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LogListHelper();
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~LogListHelper();
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public:
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static void delete_all(const char *dir);
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public:
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bool get_entry(int idx, uint32_t &size, uint32_t &date, char *filename = 0, int filename_len = 0);
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bool open_for_transmit();
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size_t get_log_data(uint8_t len, uint8_t *buffer);
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enum {
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LOG_HANDLER_IDLE,
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LOG_HANDLER_LISTING,
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LOG_HANDLER_SENDING_DATA
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};
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int next_entry;
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int last_entry;
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int log_count;
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int current_status;
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uint16_t current_log_index;
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uint32_t current_log_size;
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uint32_t current_log_data_offset;
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uint32_t current_log_data_remaining;
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FILE *current_log_filep;
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char current_log_filename[128];
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private:
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void _init();
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bool _get_session_date(const char *path, const char *dir, time_t &date);
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void _scan_logs(FILE *f, const char *dir, time_t &date);
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bool _get_log_time_size(const char *path, const char *file, time_t &date, uint32_t &size);
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};
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// MAVLink LOG_* Message Handler
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class MavlinkLogHandler
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{
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public:
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MavlinkLogHandler(Mavlink *mavlink);
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// Handle possible LOG message
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void handle_message(const mavlink_message_t *msg);
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/**
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* Handle sending of messages. Call this regularly at a fixed frequency.
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* @param t current time
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*/
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void send(const hrt_abstime t);
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unsigned get_size();
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private:
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void _log_message(const mavlink_message_t *msg);
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void _log_request_list(const mavlink_message_t *msg);
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void _log_request_data(const mavlink_message_t *msg);
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void _log_request_erase(const mavlink_message_t *msg);
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void _log_request_end(const mavlink_message_t *msg);
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size_t _log_send_listing();
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size_t _log_send_data();
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LogListHelper *_pLogHandlerHelper;
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Mavlink *_mavlink;
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};
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