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143 lines
4.0 KiB
143 lines
4.0 KiB
/* |
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DataFlash logging - file oriented variant |
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This uses posix file IO to create log files called logNN.dat in the |
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given directory |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT && (defined(BOARD_SDCARD_NAME) || defined(BOARD_DATAFLASH_FATFS)) |
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#include <AP_HAL/utility/RingBuffer.h> |
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#include "DataFlash_Backend.h" |
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#include <sd/SD.h> |
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class DataFlash_File : public DataFlash_Backend |
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{ |
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public: |
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// constructor |
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DataFlash_File(DataFlash_Class &front, |
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DFMessageWriter_DFLogStart *, |
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const char *log_directory); |
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// initialisation |
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void Init() override; |
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bool CardInserted(void) const; |
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// erase handling |
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void EraseAll(); |
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// possibly time-consuming preparation handling: |
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bool NeedPrep(); |
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void Prep(); |
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/* Write a block of data at current offset */ |
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bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical); |
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uint32_t bufferspace_available(); |
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// high level interface |
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uint16_t find_last_log() override; |
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page); |
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc); |
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data); |
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uint16_t get_num_logs() override; |
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uint16_t start_new_log(void) override; |
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void periodic_1Hz() override; |
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void periodic_fullrate(); |
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// this method is used when reporting system status over mavlink |
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bool logging_enabled() const; |
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bool logging_failed() const; |
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void vehicle_was_disarmed() override; |
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bool logging_started(void) const override { return !(!(_write_fd)); } |
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void PrepForArming(); |
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protected: |
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bool WritesOK() const override; |
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bool StartNewLogOK() const override; |
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private: |
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File _write_fd; |
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File _read_fd; |
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uint16_t _read_fd_log_num; |
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uint32_t _read_offset; |
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uint32_t _write_offset; |
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volatile bool _open_error; |
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const char *_log_directory; |
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uint32_t _io_timer_heartbeat; |
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bool io_thread_alive() const; |
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uint16_t _cached_oldest_log; |
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uint16_t _last_oldest_log; |
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uint16_t _log_num_from_list_entry(const uint16_t list_entry); |
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// possibly time-consuming preparations handling |
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void Prep_MinSpace(); |
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uint16_t find_oldest_log(); |
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bool file_exists(const char *filename) const; |
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bool log_exists(const uint16_t lognum) const; |
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const float min_avail_space_percent = 10.0f; |
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// write buffer |
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ByteBuffer _writebuf; |
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const uint16_t _writebuf_chunk; |
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uint32_t _last_write_time; |
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/* construct a file name given a log number. Caller must free. */ |
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char *_log_file_name(const uint16_t log_num) const; |
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char *_lastlog_file_name() const; |
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uint32_t _get_log_size(const uint16_t log_num) const; |
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uint32_t _get_log_time(const uint16_t log_num) const; |
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void stop_logging(void); |
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void _io_timer(void); |
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uint32_t critical_message_reserved_space() const { |
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// possibly make this a proportional to buffer size? |
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uint32_t ret = 1024; |
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if (ret > _writebuf.get_size()) { |
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// in this case you will only get critical messages |
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ret = _writebuf.get_size(); |
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} |
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return ret; |
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}; |
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uint32_t non_messagewriter_message_reserved_space() const { |
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// possibly make this a proportional to buffer size? |
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uint32_t ret = 1024; |
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if (ret >= _writebuf.get_size()) { |
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// need to allow messages out from the messagewriters. In |
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// this case while you have a messagewriter you won't get |
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// any other messages. This should be a corner case! |
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ret = 0; |
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} |
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return ret; |
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}; |
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float avail_space_percent(uint32_t *free = NULL); |
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AP_HAL::Semaphore *semaphore; |
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bool has_data; |
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#define Daysto32(year, mon) (((year - 1) / 4) + MONTAB(year)[mon]) |
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///////////////////////////////////////////////////////////////////// |
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static uint32_t to_timestamp(const struct tm *t); |
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bool _busy; |
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}; |
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#endif
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