void Prep(int x){
dep[x] = dep[fa[x]] + 1;
size[x] = 1;
son[x] = 0;
for (int i = g[x]; i; i = nxt[i]){
int y = adj[i];
if (y == fa[x]) continue;
fa[y] = x;
Prep(y);
size[x] += size[y];
if (size[y] > size[son[x]]) son[x] = y;
}
}
void Draw(void) {
Prep();
ShapeHeader();
GetVertexes();
GetNormals();
NormalCorrection();
fprintf(TIVFile::File, "\tSeparator {\n");
Draw2File();
for(int i = 1; i < TIVTube::NCDiv; i ++) fprintf(
TIVFile::File,
"\t Rotation { rotation 0 0 1 %f }\n"
"\t Separator { USE TubeUpperSector }\n",
TIVTube::Xa
);
fprintf(TIVFile::File, "\t}\n");
}
void Draw(void) {
for(int i = 0; i < Nz - 1; i++) {
if(vDz[i] == vDz[i + 1]) continue;
Prep(i);
GetVertexes(i);
GetNormals();
TIVCone::NormalCorrection();
fprintf(TIVFile::File, "\tSeparator {\n");
Draw2File();
for(int j = 1; j < TIVTube::NCDiv; j++) fprintf(
TIVFile::File,
"\t Rotation { rotation 0 0 1 %f }\n"
"\t Separator { USE TubeUpperSector }\n",
TIVTube::Xa
);
fprintf(TIVFile::File, "\t}\n");
}
}
void DataFlash_Class::Prep() {
FOR_EACH_BACKEND(Prep());
}
void DataFlash_Class::Init(const struct LogStructure *structures, uint8_t num_types)
{
gcs().send_text(MAV_SEVERITY_INFO, "Preparing log system");
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
validate_structures(structures, num_types);
dump_structures(structures, num_types);
#endif
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
_num_types = num_types;
_structures = structures;
#if defined(HAL_BOARD_LOG_DIRECTORY)
if (_params.backend_types == DATAFLASH_BACKEND_FILE ||
_params.backend_types == DATAFLASH_BACKEND_BOTH) {
DFMessageWriter_DFLogStart *message_writer =
new DFMessageWriter_DFLogStart(_firmware_string);
if (message_writer != nullptr) {
#if HAL_OS_POSIX_IO
backends[_next_backend] = new DataFlash_File(*this,
message_writer,
HAL_BOARD_LOG_DIRECTORY);
#endif
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open DataFlash_File");
} else {
_next_backend++;
}
}
#endif
#if DATAFLASH_MAVLINK_SUPPORT
if (_params.backend_types == DATAFLASH_BACKEND_MAVLINK ||
_params.backend_types == DATAFLASH_BACKEND_BOTH) {
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
DFMessageWriter_DFLogStart *message_writer =
new DFMessageWriter_DFLogStart(_firmware_string);
if (message_writer != nullptr) {
backends[_next_backend] = new DataFlash_MAVLink(*this,
message_writer);
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open DataFlash_MAVLink");
} else {
_next_backend++;
}
}
#endif
for (uint8_t i=0; i<_next_backend; i++) {
backends[i]->Init();
}
Prep();
EnableWrites(true);
gcs().send_text(MAV_SEVERITY_INFO, "Prepared log system");
}
void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
{
gcs().send_text(MAV_SEVERITY_INFO, "Preparing log system");
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
validate_structures(structures, num_types);
dump_structures(structures, num_types);
#endif
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
_num_types = num_types;
_structures = structures;
#if defined(HAL_BOARD_LOG_DIRECTORY)
#if HAL_OS_POSIX_IO || HAL_OS_FATFS_IO
if (_params.backend_types & uint8_t(Backend_Type::FILESYSTEM)) {
LoggerMessageWriter_DFLogStart *message_writer =
new LoggerMessageWriter_DFLogStart();
if (message_writer != nullptr) {
backends[_next_backend] = new AP_Logger_File(*this,
message_writer,
HAL_BOARD_LOG_DIRECTORY);
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open AP_Logger_File");
} else {
_next_backend++;
}
}
#endif
#endif // HAL_BOARD_LOG_DIRECTORY
#if DATAFLASH_MAVLINK_SUPPORT
if (_params.backend_types & uint8_t(Backend_Type::MAVLINK)) {
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
LoggerMessageWriter_DFLogStart *message_writer =
new LoggerMessageWriter_DFLogStart();
if (message_writer != nullptr) {
backends[_next_backend] = new AP_Logger_MAVLink(*this,
message_writer);
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open AP_Logger_MAVLink");
} else {
_next_backend++;
}
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_params.backend_types & uint8_t(Backend_Type::BLOCK)) {
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
LoggerMessageWriter_DFLogStart *message_writer =
new LoggerMessageWriter_DFLogStart();
if (message_writer != nullptr) {
backends[_next_backend] = new AP_Logger_SITL(*this, message_writer);
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open AP_Logger_SITL");
} else {
_next_backend++;
}
}
#endif
#ifdef HAL_LOGGING_DATAFLASH
if (_params.backend_types & uint8_t(Backend_Type::BLOCK)) {
if (_next_backend == DATAFLASH_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
LoggerMessageWriter_DFLogStart *message_writer =
new LoggerMessageWriter_DFLogStart();
if (message_writer != nullptr) {
backends[_next_backend] = new AP_Logger_DataFlash(*this, message_writer);
}
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open AP_Logger_DataFlash");
} else {
_next_backend++;
}
}
#endif
for (uint8_t i=0; i<_next_backend; i++) {
backends[i]->Init();
}
Prep();
EnableWrites(true);
gcs().send_text(MAV_SEVERITY_INFO, "Prepared log system");
}
void AP_Logger::Prep() {
FOR_EACH_BACKEND(Prep());
}
