DataFlash: StopLogging method, virtual stop_logging on backends

libraries/DataFlash/DataFlash.cpp

@@ -81,6 +81,11 @@ void DataFlash_Class::Prep() {
     FOR_EACH_BACKEND(Prep());
 }
 
+void DataFlash_Class::StopLogging()
+{
+    FOR_EACH_BACKEND(stop_logging());
+}
+
 uint16_t DataFlash_Class::find_last_log() const {
     if (_next_backend == 0) {
         return 0;

libraries/DataFlash/DataFlash.h

@@ -96,6 +96,8 @@ public:
     void StartNewLog(void);
     void EnableWrites(bool enable);
 
+    void StopLogging();
+
     void Log_Write_Parameter(const char *name, float value);
     void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
     void Log_Write_RFND(const RangeFinder &rangefinder);

libraries/DataFlash/DataFlash_Backend.h

@@ -65,6 +65,14 @@ public:
     virtual uint16_t start_new_log(void) = 0;
     bool log_write_started;
 
+    /* stop logging - close output files etc etc.
+     *
+     * note that this doesn't stop logging from starting up again
+     * immediately - e.g. DataFlash_MAVLink might get another start
+     * packet from a client.
+     */
+    virtual void stop_logging(void) = 0;
+
     void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX

libraries/DataFlash/DataFlash_MAVLink.cpp

@@ -201,6 +201,14 @@ void DataFlash_MAVLink::free_all_blocks()
     _latest_block_len = 0;
 }
 
+void DataFlash_MAVLink::stop_logging()
+{
+    if (_sending_to_client) {
+        _sending_to_client = false;
+        _last_response_time = AP_HAL::millis();
+    }
+}
+
 void DataFlash_MAVLink::handle_ack(mavlink_channel_t chan,
                                    mavlink_message_t* msg,
                                    uint32_t seqno)
@@ -210,10 +218,7 @@ void DataFlash_MAVLink::handle_ack(mavlink_channel_t chan,
     }
     if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_STOP) {
         Debug("Received stop-logging packet");
-        if (_sending_to_client) {
-            _sending_to_client = false;
-            _last_response_time = AP_HAL::millis();
-        }
+        stop_logging();
         return;
     }
     if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_START) {

libraries/DataFlash/DataFlash_MAVLink.h

@@ -36,6 +36,8 @@ public:
 
     bool logging_started() { return _logging_started; }
 
+    void stop_logging();
+
     /* Write a block of data at current offset */
     bool WritePrioritisedBlock(const void *pBuffer, uint16_t size,
                                bool is_critical) override;