log_writer_mavlink.h
2.65 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
/****************************************************************************
*
* 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:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* 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
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/ulog_stream.h>
#include <uORB/topics/ulog_stream_ack.h>
namespace px4
{
namespace logger
{
/**
* @class LogWriterMavlink
* Writes logging data to uORB, and then sent via mavlink
*/
class LogWriterMavlink
{
public:
LogWriterMavlink();
~LogWriterMavlink();
bool init();
void start_log();
void stop_log();
bool is_started() const { return _is_started; }
/** @see LogWriter::write_message() */
int write_message(void *ptr, size_t size);
void set_need_reliable_transfer(bool need_reliable);
bool need_reliable_transfer() const
{
return _need_reliable_transfer;
}
private:
/** publish message, wait for ack if needed & reset message */
int publish_message();
ulog_stream_s _ulog_stream_data{};
uORB::Publication<ulog_stream_s> _ulog_stream_pub{ORB_ID(ulog_stream)};
int _ulog_stream_ack_sub{-1};
bool _need_reliable_transfer{false};
bool _is_started{false};
};
}
}