/**
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 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();
}
/// handler for polygon fence messages with GCS
void AC_Fence::handle_msg(GCS_MAVLINK &link, mavlink_message_t* msg)
{
// exit immediately if null message
if (msg == nullptr) {
return;
}
switch (msg->msgid) {
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
if (!check_latlng(packet.lat,packet.lng)) {
link.send_text(MAV_SEVERITY_WARNING, "Invalid fence point, lat or lng too large");
} else {
Vector2l point;
point.x = packet.lat*1.0e7f;
point.y = packet.lng*1.0e7f;
if (!_poly_loader.save_point_to_eeprom(packet.idx, point)) {
link.send_text(MAV_SEVERITY_WARNING, "Failed to save polygon point, too many points?");
} else {
// trigger reload of points
_boundary_loaded = false;
}
}
break;
}
// send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet);
// attempt to retrieve from eeprom
Vector2l point;
if (_poly_loader.load_point_from_eeprom(packet.idx, point)) {
mavlink_msg_fence_point_send_buf(msg, link.get_chan(), msg->sysid, msg->compid, packet.idx, _total, point.x*1.0e-7f, point.y*1.0e-7f);
} else {
link.send_text(MAV_SEVERITY_WARNING, "Bad fence point");
}
break;
}
default:
// do nothing
break;
}
}
/**
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();
}