/**
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 data if there are some pending
*/
bool DataFlash_Class::handle_log_send_data(GCS_MAVLINK &link)
{
if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_DATA)) {
// no space
return false;
}
if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return false;
}
int16_t ret = 0;
uint32_t len = _log_data_remaining;
mavlink_log_data_t packet;
if (len > 90) {
len = 90;
}
ret = get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, packet.data);
if (ret < 0) {
// report as EOF on error
ret = 0;
}
if (ret < 90) {
memset(&packet.data[ret], 0, 90-ret);
}
packet.ofs = _log_data_offset;
packet.id = _log_num_data;
packet.count = ret;
_mav_finalize_message_chan_send(link.get_chan(), MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet,
MAVLINK_MSG_ID_LOG_DATA_MIN_LEN,
MAVLINK_MSG_ID_LOG_DATA_LEN,
MAVLINK_MSG_ID_LOG_DATA_CRC);
_log_data_offset += len;
_log_data_remaining -= len;
if (ret < 90 || _log_data_remaining == 0) {
_log_sending = false;
_log_sending_chan = -1;
}
return true;
}