mavlink_log_handler.h
3.88 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
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
/****************************************************************************
*
* Copyright (c) 2014, 2020 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
/// @file mavlink_log_handler.h
/// @author px4dev, Gus Grubba <mavlink@grubba.com>
#include <dirent.h>
#include <queue.h>
#include <time.h>
#include <stdio.h>
#include <cstdbool>
#include <drivers/drv_hrt.h>
#include "mavlink_bridge_header.h"
class Mavlink;
// MAVLink LOG_* Message Handler
class MavlinkLogHandler
{
public:
MavlinkLogHandler(Mavlink *mavlink);
~MavlinkLogHandler();
// Handle possible LOG message
void handle_message(const mavlink_message_t *msg);
/**
* Handle sending of messages. Call this regularly at a fixed frequency.
* @param t current time
*/
void send();
unsigned get_size();
private:
enum class LogHandlerState {
Inactive, //There is no active action of log handler
Idle, //The log handler is not sending list/data, but list has been sent
Listing, //File list is being send
SendingData //File Data is being send
};
void _log_message(const mavlink_message_t *msg);
void _log_request_list(const mavlink_message_t *msg);
void _log_request_data(const mavlink_message_t *msg);
void _log_request_erase(const mavlink_message_t *msg);
void _log_request_end(const mavlink_message_t *msg);
void _reset_list_helper();
void _init_list_helper();
bool _get_session_date(const char *path, const char *dir, time_t &date);
void _scan_logs(FILE *f, const char *dir, time_t &date);
bool _get_log_time_size(const char *path, const char *file, time_t &date, uint32_t &size);
static void _delete_all(const char *dir);
bool _get_entry(int idx, uint32_t &size, uint32_t &date, char *filename = 0, int filename_len = 0);
bool _open_for_transmit();
size_t _get_log_data(uint8_t len, uint8_t *buffer);
void _close_and_unlink_files();
size_t _log_send_listing();
size_t _log_send_data();
LogHandlerState _current_status{LogHandlerState::Inactive};
Mavlink *_mavlink;
int _next_entry{0};
int _last_entry{0};
int _log_count{0};
uint16_t _current_log_index{UINT16_MAX};
uint32_t _current_log_size{0};
uint32_t _current_log_data_offset{0};
uint32_t _current_log_data_remaining{0};
FILE *_current_log_filep{nullptr};
char _current_log_filename[128]; //TODO: consider to allocate on runtime
};