/**
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++;
}
}
/**
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++;
}
}
/**
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);
}