//TODO: handle full txspace properly
void DataFlash_MAVLink::send_log_block(uint32_t block_address)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised || comm_get_txspace(chan) < 255){
return;
}
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink.seq++;
Debug("Data Sent!!\n");
uint16_t len = mavlink_msg_remote_log_data_block_pack(mavlink.system_id,
mavlink.component_id,
&msg,
255, //GCS SYS ID
0,
_block_max_size,
_block_num[block_address],
_buf[block_address]);
if(comm_get_txspace(chan) < len){
return;
}
chan_status->current_tx_seq = saved_seq;
_mavlink_resend_uart(chan, &msg);
}
//TODO: handle full txspace properly
bool DataFlash_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (!HAVE_PAYLOAD_SPACE(chan, REMOTE_LOG_DATA_BLOCK)) {
return false;
}
if (comm_get_txspace(chan) < 500) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (rand() < 0.1) {
return false;
}
#endif
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqstate_t istate = irqsave();
#endif
// DM_packing: 267039 events, 0 overruns, 8440834us elapsed, 31us avg, min 31us max 32us 0.488us rms
hal.util->perf_begin(_perf_packing);
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
hal.util->perf_end(_perf_packing);
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqrestore(istate);
#endif
block.last_sent = AP_HAL::millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = AP_HAL::millis();
_mavlink_resend_uart(chan, &msg);
return true;
}
//TODO: handle full txspace properly
bool DataFlash_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (comm_get_txspace(chan) < MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK_LEN) {
return false;
}
if (comm_get_txspace(chan) < 500) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
if (rand() < 0.1) {
return false;
}
#endif
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
block.last_sent = hal.scheduler->millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = hal.scheduler->millis();
_mavlink_resend_uart(chan, &msg);
return true;
}
