/**
handle all types of log download requests from the GCS
*/
void DataFlash_Class::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg)
{
if (_log_sending_chan >= 0) {
link.send_text(MAV_SEVERITY_INFO, "Log download in progress");
return;
}
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
_log_listing = false;
_log_sending = false;
_log_num_logs = get_num_logs();
if (_log_num_logs == 0) {
_log_next_list_entry = 0;
_log_last_list_entry = 0;
} else {
_log_next_list_entry = packet.start;
_log_last_list_entry = packet.end;
if (_log_last_list_entry > _log_num_logs) {
_log_last_list_entry = _log_num_logs;
}
if (_log_next_list_entry < 1) {
_log_next_list_entry = 1;
}
}
_log_listing = true;
_log_sending_chan = link.get_chan();
handle_log_send_listing(link);
}
/**
handle all types of log download requests from the GCS
*/
void GCS_MAVLINK::handle_log_request_list(mavlink_message_t *msg, DataFlash_Class &dataflash)
{
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
_log_listing = false;
_log_sending = false;
_log_num_logs = dataflash.get_num_logs();
if (_log_num_logs == 0) {
return;
}
int16_t last_log_num = dataflash.find_last_log();
_log_next_list_entry = packet.start;
_log_last_list_entry = packet.end;
if (_log_last_list_entry > last_log_num) {
_log_last_list_entry = last_log_num;
}
if (_log_next_list_entry < last_log_num + 1 - _log_num_logs) {
_log_next_list_entry = last_log_num + 1 - _log_num_logs;
}
_log_listing = true;
handle_log_send_listing(dataflash);
}
/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send(GCS_MAVLINK &link)
{
if (_log_sending_chan != link.get_chan()) {
return;
}
if (_log_listing) {
handle_log_send_listing(link);
}
if (!_log_sending) {
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// assume USB speeds in SITL for the purposes of log download
const uint8_t num_sends = 40;
#else
uint8_t num_sends = 1;
if (link.is_high_bandwidth() && hal.gpio->usb_connected()) {
// when on USB we can send a lot more data
num_sends = 250;
} else if (link.have_flow_control()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
num_sends = 80;
#else
num_sends = 10;
#endif
}
#endif
for (uint8_t i=0; i<num_sends; i++) {
if (_log_sending) {
if (!handle_log_send_data(link)) break;
}
}
}
/**
trigger sending of log messages if there are some pending
*/
void GCS_MAVLINK::handle_log_send(DataFlash_Class &dataflash)
{
if (_log_listing) {
handle_log_send_listing(dataflash);
}
if (!_log_sending) {
return;
}
uint8_t num_sends = 1;
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// when on USB we can send a lot more data
num_sends = 40;
} else if (chan == MAVLINK_COMM_1 &&
hal.uartC->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE) {
num_sends = 10;
} else if (chan == MAVLINK_COMM_2 &&
hal.uartD != NULL &&
hal.uartD->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE) {
num_sends = 10;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// assume USB speeds in SITL for the purposes of log download
num_sends = 40;
#endif
for (uint8_t i=0; i<num_sends; i++) {
if (_log_sending) {
if (!handle_log_send_data(dataflash)) break;
}
}
}
/**
handle all types of log download requests from the GCS
*/
void GCS_MAVLINK::handle_log_request_list(mavlink_message_t *msg, DataFlash_Class &dataflash)
{
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
_log_listing = false;
_log_sending = false;
_log_num_logs = dataflash.get_num_logs();
if (_log_num_logs == 0) {
_log_next_list_entry = 0;
_log_last_list_entry = 0;
} else {
_log_next_list_entry = packet.start;
_log_last_list_entry = packet.end;
if (_log_last_list_entry > _log_num_logs) {
_log_last_list_entry = _log_num_logs;
}
if (_log_next_list_entry < 1) {
_log_next_list_entry = 1;
}
}
_log_listing = true;
handle_log_send_listing(dataflash);
}
/**
trigger sending of log messages if there are some pending
*/
void GCS_MAVLINK::handle_log_send(DataFlash_Class &dataflash)
{
if (_log_listing) {
handle_log_send_listing(dataflash);
}
if (!_log_sending) {
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// assume USB speeds in SITL for the purposes of log download
const uint8_t num_sends = 40;
#else
uint8_t num_sends = 1;
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// when on USB we can send a lot more data
num_sends = 40;
} else if (have_flow_control()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
num_sends = 80;
#else
num_sends = 10;
#endif
}
#endif
for (uint8_t i=0; i<num_sends; i++) {
if (_log_sending) {
if (!handle_log_send_data(dataflash)) break;
}
}
}
/**
handle all types of log download requests from the GCS
*/
void DataFlash_Class::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg)
{
if (_log_sending_link != nullptr) {
link.send_text(MAV_SEVERITY_INFO, "Log download in progress");
return;
}
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
_log_num_logs = get_num_logs();
if (_log_num_logs == 0) {
_log_next_list_entry = 0;
_log_last_list_entry = 0;
} else {
_log_next_list_entry = packet.start;
_log_last_list_entry = packet.end;
if (_log_last_list_entry > _log_num_logs) {
_log_last_list_entry = _log_num_logs;
}
if (_log_next_list_entry < 1) {
_log_next_list_entry = 1;
}
}
transfer_activity = LISTING;
_log_sending_link = &link;
handle_log_send_listing();
}
/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send()
{
if (_log_sending_link == nullptr) {
return;
}
if (hal.util->get_soft_armed()) {
// might be flying
return;
}
switch (transfer_activity) {
case IDLE:
break;
case LISTING:
handle_log_send_listing();
break;
case SENDING:
handle_log_sending();
break;
}
}
