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AP_Logger: remove AP_Logger_SITL 

We now use jedec dataflash simulator for this purpose. Hence, we should remove these files and all references to HAL_LOGGING_SITL_ENABLED

Co-Authored-By: Divyateja Pasupuleti <divyateja2004@gmail.com>
gps-1.3.1
Shiv Tyagi 3 years ago committed by Peter Barker
parent
af950e266b
commit
3533e1e0ed
4 changed files with 5 additions and 169 deletions
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  1. 8
      libraries/AP_Logger/AP_Logger.cpp
  2. 19
      libraries/AP_Logger/AP_Logger.h
  3. 108
      libraries/AP_Logger/AP_Logger_SITL.cpp
  4. 39
      libraries/AP_Logger/AP_Logger_SITL.h

8
libraries/AP_Logger/AP_Logger.cpp
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@ -3,7 +3,6 @@
#include "AP_Logger_Backend.h" #include "AP_Logger_Backend.h"
#include "AP_Logger_File.h" #include "AP_Logger_File.h"
#include "AP_Logger_SITL.h"
#include "AP_Logger_DataFlash.h" #include "AP_Logger_DataFlash.h"
#include "AP_Logger_MAVLink.h" #include "AP_Logger_MAVLink.h"
@ -45,7 +44,9 @@ extern const AP_HAL::HAL& hal;
#endif #endif
#ifndef HAL_LOGGING_BACKENDS_DEFAULT #ifndef HAL_LOGGING_BACKENDS_DEFAULT
# if HAL_LOGGING_DATAFLASH_ENABLED # if HAL_LOGGING_FILESYSTEM_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
# define HAL_LOGGING_BACKENDS_DEFAULT Backend_Type::FILESYSTEM
# elif HAL_LOGGING_DATAFLASH_ENABLED
# define HAL_LOGGING_BACKENDS_DEFAULT Backend_Type::BLOCK # define HAL_LOGGING_BACKENDS_DEFAULT Backend_Type::BLOCK
# elif HAL_LOGGING_FILESYSTEM_ENABLED # elif HAL_LOGGING_FILESYSTEM_ENABLED
# define HAL_LOGGING_BACKENDS_DEFAULT Backend_Type::FILESYSTEM # define HAL_LOGGING_BACKENDS_DEFAULT Backend_Type::FILESYSTEM
@ -187,9 +188,6 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
#if HAL_LOGGING_DATAFLASH_ENABLED #if HAL_LOGGING_DATAFLASH_ENABLED
{ Backend_Type::BLOCK, AP_Logger_DataFlash::probe }, { Backend_Type::BLOCK, AP_Logger_DataFlash::probe },
#endif #endif
#if HAL_LOGGING_SITL_ENABLED
{ Backend_Type::BLOCK, AP_Logger_SITL::probe },
#endif
#if HAL_LOGGING_MAVLINK_ENABLED #if HAL_LOGGING_MAVLINK_ENABLED
{ Backend_Type::MAVLINK, AP_Logger_MAVLink::probe }, { Backend_Type::MAVLINK, AP_Logger_MAVLink::probe },
#endif #endif

19
libraries/AP_Logger/AP_Logger.h
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@ -11,7 +11,7 @@
// set default for HAL_LOGGING_DATAFLASH_ENABLED // set default for HAL_LOGGING_DATAFLASH_ENABLED
#ifndef HAL_LOGGING_DATAFLASH_ENABLED #ifndef HAL_LOGGING_DATAFLASH_ENABLED
#define HAL_LOGGING_DATAFLASH_ENABLED 0 #define HAL_LOGGING_DATAFLASH_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif #endif
#ifndef HAL_LOGGING_MAVLINK_ENABLED #ifndef HAL_LOGGING_MAVLINK_ENABLED
@ -26,27 +26,12 @@
#endif #endif
#endif #endif
#ifndef HAL_LOGGING_SITL_ENABLED #if HAL_LOGGING_DATAFLASH_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define HAL_LOGGING_SITL_ENABLED HAL_LOGGING_ENABLED
#else
#define HAL_LOGGING_SITL_ENABLED 0
#endif
#endif
#if HAL_LOGGING_SITL_ENABLED || HAL_LOGGING_DATAFLASH_ENABLED
#define HAL_LOGGING_BLOCK_ENABLED 1 #define HAL_LOGGING_BLOCK_ENABLED 1
#else #else
#define HAL_LOGGING_BLOCK_ENABLED 0 #define HAL_LOGGING_BLOCK_ENABLED 0
#endif #endif
// sanity checks:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if HAL_LOGGING_DATAFLASH_ENABLED
#error DATAFLASH not supported on SITL; you probably mean SITL
#endif
#endif
#if HAL_LOGGING_FILESYSTEM_ENABLED #if HAL_LOGGING_FILESYSTEM_ENABLED
#if !defined (HAL_BOARD_LOG_DIRECTORY) #if !defined (HAL_BOARD_LOG_DIRECTORY)

108
libraries/AP_Logger/AP_Logger_SITL.cpp
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@ -1,108 +0,0 @@
/*
backend for SITL emulation of block logging
*/
#include "AP_Logger_SITL.h"
#include <AP_HAL/AP_HAL.h>
#if HAL_LOGGING_SITL_ENABLED
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <assert.h>
#include <stdio.h>
#define DF_PAGE_SIZE 256UL
#define DF_PAGE_PER_SECTOR 16 // 4k sectors
#define DF_PAGE_PER_BLOCK 256 // 4k sectors
#define DF_NUM_PAGES 65536UL
#define ERASE_TIME_MS 10000
extern const AP_HAL::HAL& hal;
void AP_Logger_SITL::Init()
{
if (flash_fd == 0) {
flash_fd = open(filename, O_RDWR|O_CLOEXEC, 0777);
if (flash_fd == -1) {
flash_fd = open(filename, O_RDWR | O_CREAT | O_CLOEXEC, 0777);
if (ftruncate(flash_fd, DF_PAGE_SIZE*uint32_t(DF_NUM_PAGES)) != 0) {
AP_HAL::panic("Failed to create %s", filename);
}
}
}
df_PageSize = DF_PAGE_SIZE;
df_PagePerSector = DF_PAGE_PER_SECTOR;
df_PagePerBlock = DF_PAGE_PER_BLOCK;
df_NumPages = DF_NUM_PAGES;
AP_Logger_Block::Init();
}
bool AP_Logger_SITL::CardInserted(void) const
{
return df_NumPages > 0;
}
void AP_Logger_SITL::PageToBuffer(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pread(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash read");
}
}
void AP_Logger_SITL::BufferToPage(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pwrite(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash write");
}
}
void AP_Logger_SITL::SectorErase(uint32_t SectorAdr)
{
uint8_t fill[DF_PAGE_SIZE*DF_PAGE_PER_BLOCK];
memset(fill, 0xFF, sizeof(fill));
if (pwrite(flash_fd, fill, sizeof(fill), SectorAdr*DF_PAGE_PER_BLOCK*DF_PAGE_SIZE) != sizeof(fill)) {
printf("Failed sector erase");
}
}
void AP_Logger_SITL::Sector4kErase(uint32_t SectorAdr)
{
uint8_t fill[DF_PAGE_SIZE*DF_PAGE_PER_SECTOR];
memset(fill, 0xFF, sizeof(fill));
if (pwrite(flash_fd, fill, sizeof(fill), SectorAdr*DF_PAGE_PER_SECTOR*DF_PAGE_SIZE) != sizeof(fill)) {
printf("Failed sector 4k erase");
}
}
void AP_Logger_SITL::StartErase()
{
for (uint32_t i=0; i<DF_NUM_PAGES/DF_PAGE_PER_BLOCK; i++) {
SectorErase(i);
}
erase_started_ms = AP_HAL::millis();
}
bool AP_Logger_SITL::InErase()
{
if (erase_started_ms == 0) {
return false;
}
uint32_t now = AP_HAL::millis();
if (now - erase_started_ms < ERASE_TIME_MS) {
return true;
}
erase_started_ms = 0;
return false;
}
#endif // HAL_LOGGING_SITL_ENABLED

39
libraries/AP_Logger/AP_Logger_SITL.h
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@ -1,39 +0,0 @@
/*
block based logging backend for SITL, simulating a flash storage
chip
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_Logger_Block.h"
#if HAL_LOGGING_SITL_ENABLED
class AP_Logger_SITL : public AP_Logger_Block {
public:
AP_Logger_SITL(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
AP_Logger_Block(front, writer) {}
static AP_Logger_Backend *probe(AP_Logger &front,
LoggerMessageWriter_DFLogStart *ls) {
return new AP_Logger_SITL(front, ls);
}
void Init() override;
bool CardInserted() const override;
static constexpr const char *filename = "dataflash.bin";
private:
void BufferToPage(uint32_t PageAdr) override;
void PageToBuffer(uint32_t PageAdr) override;
void SectorErase(uint32_t SectorAdr) override;
void Sector4kErase(uint32_t SectorAdr) override;
void StartErase() override;
bool InErase() override;
int flash_fd;
uint32_t erase_started_ms;
};
#endif // HAL_LOGGING_SITL_ENABLED
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