Exemplo n.º 1
0
/**
   trigger sending of log messages if there are some pending
 */
void GCS_MAVLINK::handle_log_send_listing(DataFlash_Class &dataflash)
{
    if (!HAVE_PAYLOAD_SPACE(chan, LOG_ENTRY)) {
        // no space
        return;
    }
    if (AP_HAL::millis() - 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 {
        dataflash.get_log_info(_log_next_list_entry, size, time_utc);
    }
    mavlink_msg_log_entry_send(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;
    } else {
        _log_next_list_entry++;
    }
}
Exemplo n.º 2
0
/**
   trigger sending of log messages if there are some pending
 */
void GCS_MAVLINK::handle_log_send_listing(DataFlash_Class &dataflash)
{
    uint16_t txspace = comm_get_txspace(chan);
    if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_LOG_ENTRY_LEN) {
        // no space
        return;
    }
    if (hal.scheduler->millis() - 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 {
        dataflash.get_log_info(_log_next_list_entry, size, time_utc);
    }
    mavlink_msg_log_entry_send(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;
    } else {
        _log_next_list_entry++;
    }
}
Exemplo n.º 3
0
/**
   handle request for log data
 */
void GCS_MAVLINK::handle_log_request_data(mavlink_message_t *msg, DataFlash_Class &dataflash)
{
    mavlink_log_request_data_t packet;
    mavlink_msg_log_request_data_decode(msg, &packet);
    if (mavlink_check_target(packet.target_system, packet.target_component))
        return;

    _log_listing = false;
    if (!_log_sending || _log_num_data != packet.id) {
        _log_sending = false;

        uint16_t num_logs = dataflash.get_num_logs();
        int16_t last_log_num = dataflash.find_last_log();
        if (packet.id > last_log_num || packet.id < last_log_num + 1 - num_logs) {
            return;
        }

        uint32_t time_utc, size;
        dataflash.get_log_info(packet.id, size, time_utc);
        _log_num_data = packet.id;
        _log_data_size = size;

        uint16_t end;
        dataflash.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;

    handle_log_send(dataflash);
}