DataFlash: move starting of new logs into DataFlash

libraries/DataFlash/DataFlash.cpp

@@ -296,17 +296,6 @@ void DataFlash_Class::backend_starting_new_log(const DataFlash_Backend *backend)
     }
 }
 
-// start any backend which hasn't started; this is only called from
-// the vehicle code
-void DataFlash_Class::StartUnstartedLogging(void)
-{
-    for (uint8_t i=0; i<_next_backend; i++) {
-        if (!backends[i]->logging_started()) {
-            backends[i]->start_new_log();
-        }
-    }
-}
-
 bool DataFlash_Class::should_log(const uint32_t mask) const
 {
     if (!(mask & _log_bitmask)) {

libraries/DataFlash/DataFlash.h

@@ -101,9 +101,6 @@ public:
 
     void setVehicle_Startup_Log_Writer(vehicle_startup_message_Log_Writer writer);
 
-    /* poke backends to start if they're not already started */
-    void StartUnstartedLogging(void);
-
     void EnableWrites(bool enable) { _writes_enabled = enable; }
     bool WritesEnabled() const { return _writes_enabled; }
 

libraries/DataFlash/DataFlash_Backend.cpp

@@ -260,6 +260,31 @@ bool DataFlash_Backend::Log_Write(const uint8_t msg_type, va_list arg_list, bool
     return WritePrioritisedBlock(buffer, msg_len, is_critical);
 }
 
+bool DataFlash_Backend::StartNewLogOK() const
+{
+    if (logging_started()) {
+        return false;
+    }
+    if (_front._log_bitmask == 0) {
+        return false;
+    }
+    if (_front.in_log_download()) {
+        return false;
+    }
+    if (!DataFlash_Backend::WritesOK()) {
+        return false;
+    }
+    return true;
+}
+
+bool DataFlash_Backend::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
+{
+    if (StartNewLogOK()) {
+        start_new_log();
+    }
+    return _WritePrioritisedBlock(pBuffer, size, is_critical);
+}
+
 bool DataFlash_Backend::WritesOK() const
 {
     if (!_front.WritesEnabled()) {

libraries/DataFlash/DataFlash_Backend.h

@@ -35,7 +35,7 @@ public:
         return WritePrioritisedBlock(pBuffer, size, true);
     }
 
-    virtual bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
+    bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
 
     // high level interface
     virtual uint16_t find_last_log() = 0;
@@ -138,6 +138,7 @@ protected:
                           AP_HAL::BetterStream *port);
 
     virtual bool WritesOK() const;
+    virtual bool StartNewLogOK() const;
 
     /*
       read a block
@@ -157,10 +158,13 @@ protected:
     // must be called when a new log is being started:
     virtual void start_new_log_reset_variables();
 
+    virtual bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
+
     bool _initialised;
 
 private:
 
     uint32_t _last_periodic_1Hz;
     uint32_t _last_periodic_10Hz;
+
 };

libraries/DataFlash/DataFlash_File.cpp

@@ -525,8 +525,17 @@ bool DataFlash_File::WritesOK() const
     return true;
 }
 
+
+bool DataFlash_File::StartNewLogOK() const
+{
+    if (_open_error) {
+        return false;
+    }
+    return DataFlash_Backend::StartNewLogOK();
+}
+
 /* Write a block of data at current offset */
-bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
+bool DataFlash_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
 {
     if (!WritesOK()) {
         return false;
@@ -870,6 +879,7 @@ uint16_t DataFlash_File::start_new_log(void)
     }
     char *fname = _log_file_name(log_num);
     if (fname == nullptr) {
+        _open_error = true;
         return 0xFFFF;
     }
     _write_fd = ::open(fname, O_WRONLY|O_CREAT|O_TRUNC|O_CLOEXEC, 0666);
@@ -899,6 +909,7 @@ uint16_t DataFlash_File::start_new_log(void)
     int fd = open(fname, O_WRONLY|O_CREAT|O_CLOEXEC, 0644);
     free(fname);
     if (fd == -1) {
+        _open_error = true;
         return 0xFFFF;
     }
 
@@ -909,6 +920,7 @@ uint16_t DataFlash_File::start_new_log(void)
     close(fd);
 
     if (written < to_write) {
+        _open_error = true;
         return 0xFFFF;
     }
 
@@ -1172,11 +1184,6 @@ bool DataFlash_File::io_thread_alive() const
 
 bool DataFlash_File::logging_failed() const
 {
-    if (_write_fd == -1 &&
-        (hal.util->get_soft_armed() ||
-         _front.log_while_disarmed())) {
-        return true;
-    }
     if (_open_error) {
         return true;
     }

libraries/DataFlash/DataFlash_File.h

@@ -43,7 +43,7 @@ public:
     void Prep() override;
 
     /* Write a block of data at current offset */
-    bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
+    bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
     uint32_t bufferspace_available() override;
 
     // high level interface
@@ -76,6 +76,7 @@ public:
 protected:
 
     bool WritesOK() const override;
+    bool StartNewLogOK() const override;
 
 private:
     int _write_fd;

libraries/DataFlash/DataFlash_MAVLink.cpp

@@ -133,7 +133,7 @@ bool DataFlash_MAVLink::WritesOK() const
 /* Write a block of data at current offset */
 
 // DM_write: 70734 events, 0 overruns, 167806us elapsed, 2us avg, min 1us max 34us 0.620us rms
-bool DataFlash_MAVLink::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
+bool DataFlash_MAVLink::_WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
 {
     if (!WritesOK()) {
         return false;

libraries/DataFlash/DataFlash_MAVLink.h

@@ -36,7 +36,7 @@ public:
     void stop_logging() override;
 
     /* Write a block of data at current offset */
-    bool WritePrioritisedBlock(const void *pBuffer, uint16_t size,
+    bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size,
                                bool is_critical) override;
 
     // initialisation