// initialisation
void DataFlash_MAVLink::Init(const struct LogStructure *structure, uint8_t num_types)
{
DataFlash_Backend::Init(structure, num_types);
_blocks = NULL;
while (_blockcount >= 8) { // 8 is a *magic* number
_blocks = (struct dm_block *) malloc(_blockcount * sizeof(_blocks[0]));
if (_blocks != NULL) {
break;
}
_blockcount /= 2;
}
if (_blocks == NULL) {
return;
}
free_all_blocks();
stats_init();
_initialised = true;
_logging_started = true; // in actual fact, we throw away
// everything until a client connects.
// This stops calls to start_new_log from
// the vehicles
}
// initialisation
void DataFlash_MAVLink::Init()
{
semaphore = hal.util->new_semaphore();
if (semaphore == nullptr) {
AP_HAL::panic("Failed to create DataFlash_MAVLink semaphore");
return;
}
DataFlash_Backend::Init();
_blocks = nullptr;
while (_blockcount >= 8) { // 8 is a *magic* number
_blocks = (struct dm_block *) malloc(_blockcount * sizeof(_blocks[0]));
if (_blocks != nullptr) {
break;
}
_blockcount /= 2;
}
if (_blocks == nullptr) {
return;
}
free_all_blocks();
stats_init();
_initialised = true;
_logging_started = true; // in actual fact, we throw away
// everything until a client connects.
// This stops calls to start_new_log from
// the vehicles
}
void DataFlash_MAVLink::handle_ack(mavlink_channel_t chan,
mavlink_message_t* msg,
uint32_t seqno)
{
if (!_initialised) {
return;
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_STOP) {
Debug("Received stop-logging packet");
if (_sending_to_client) {
_sending_to_client = false;
_last_response_time = hal.scheduler->millis();
}
return;
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_START) {
if (!_sending_to_client) {
Debug("Starting New Log");
free_all_blocks();
// _current_block = next_block();
// if (_current_block == NULL) {
// Debug("No free blocks?!!!\n");
// return;
// }
stats_init();
_sending_to_client = true;
_target_system_id = msg->sysid;
_target_component_id = msg->compid;
_chan = chan;
_next_seq_num = 0;
_startup_messagewriter->reset();
_last_response_time = hal.scheduler->millis();
Debug("Target: (%u/%u)", _target_system_id, _target_component_id);
}
return;
}
// check SENT blocks (VERY likely to be first on the list):
if (free_seqno_from_queue(seqno, _blocks_sent)) {
// celebrate
_last_response_time = hal.scheduler->millis();
} else if(free_seqno_from_queue(seqno, _blocks_retry)) {
// party
_last_response_time = hal.scheduler->millis();
} else {
// probably acked already and put on the free list.
}
}