/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send_listing(GCS_MAVLINK &link)
{
if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_ENTRY)) {
// no space
return;
}
if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return;
}
uint32_t size, time_utc;
if (_log_next_list_entry == 0) {
size = 0;
time_utc = 0;
} else {
get_log_info(_log_next_list_entry, size, time_utc);
}
mavlink_msg_log_entry_send(link.get_chan(), _log_next_list_entry, _log_num_logs, _log_last_list_entry, time_utc, size);
if (_log_next_list_entry == _log_last_list_entry) {
_log_listing = false;
_log_sending_chan = -1;
} else {
_log_next_list_entry++;
}
}
/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send_listing()
{
if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_ENTRY)) {
// no space
return;
}
if (AP_HAL::millis() - _log_sending_link->get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return;
}
uint32_t size, time_utc;
if (_log_next_list_entry == 0) {
size = 0;
time_utc = 0;
} else {
get_log_info(_log_next_list_entry, size, time_utc);
}
mavlink_msg_log_entry_send(_log_sending_link->get_chan(),
_log_next_list_entry,
_log_num_logs,
_log_last_list_entry,
time_utc,
size);
if (_log_next_list_entry == _log_last_list_entry) {
transfer_activity = IDLE;
_log_sending_link = nullptr;
} else {
_log_next_list_entry++;
}
}
/**
handle request for log data
*/
void DataFlash_Class::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg)
{
if (_log_sending_chan >= 0) {
// some GCS (e.g. MAVProxy) attempt to stream request_data
// messages when they're filling gaps in the downloaded logs.
// This channel check avoids complaining to them, at the cost
// of silently dropping any repeated attempts to start logging
if (_log_sending_chan != link.get_chan()) {
link.send_text(MAV_SEVERITY_INFO, "Log download in progress");
}
return;
}
mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet);
_in_log_download = true;
_log_listing = false;
if (!_log_sending || _log_num_data != packet.id) {
_log_sending = false;
uint16_t num_logs = get_num_logs();
if (packet.id > num_logs || packet.id < 1) {
return;
}
uint32_t time_utc, size;
get_log_info(packet.id, size, time_utc);
_log_num_data = packet.id;
_log_data_size = size;
uint16_t end;
get_log_boundaries(packet.id, _log_data_page, end);
}
_log_data_offset = packet.ofs;
if (_log_data_offset >= _log_data_size) {
_log_data_remaining = 0;
} else {
_log_data_remaining = _log_data_size - _log_data_offset;
}
if (_log_data_remaining > packet.count) {
_log_data_remaining = packet.count;
}
_log_sending = true;
_log_sending_chan = link.get_chan();
handle_log_send(link);
}
/**
handle request for log data
*/
void DataFlash_Class::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg)
{
if (_log_sending_link != nullptr) {
// some GCS (e.g. MAVProxy) attempt to stream request_data
// messages when they're filling gaps in the downloaded logs.
// This channel check avoids complaining to them, at the cost
// of silently dropping any repeated attempts to start logging
if (_log_sending_link->get_chan() != link.get_chan()) {
link.send_text(MAV_SEVERITY_INFO, "Log download in progress");
}
return;
}
mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet);
// consider opening or switching logs:
if (transfer_activity != SENDING || _log_num_data != packet.id) {
uint16_t num_logs = get_num_logs();
if (packet.id > num_logs || packet.id < 1) {
// request for an invalid log; cancel any current download
transfer_activity = IDLE;
return;
}
uint32_t time_utc, size;
get_log_info(packet.id, size, time_utc);
_log_num_data = packet.id;
_log_data_size = size;
uint16_t end;
get_log_boundaries(packet.id, _log_data_page, end);
}
_log_data_offset = packet.ofs;
if (_log_data_offset >= _log_data_size) {
_log_data_remaining = 0;
} else {
_log_data_remaining = _log_data_size - _log_data_offset;
}
if (_log_data_remaining > packet.count) {
_log_data_remaining = packet.count;
}
transfer_activity = SENDING;
_log_sending_link = &link;
handle_log_send();
}
