Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Logger_Backend.h"
       4             : #include <AP_Rally/AP_Rally.h>
       5             : #include <AP_RTC/AP_RTC_config.h>
       6             : 
       7             : class LoggerMessageWriter {
       8             : public:
       9             : 
      10             :     virtual void reset() = 0;
      11             :     virtual void process() = 0;
      12   308701231 :     bool finished() const { return _finished; }
      13             : 
      14       10470 :     virtual void set_logger_backend(class AP_Logger_Backend *backend) {
      15       10470 :         _logger_backend = backend;
      16       10470 :     }
      17             : 
      18             :     bool out_of_time_for_writing_messages() const;
      19             : 
      20             : protected:
      21             :     bool _finished = false;
      22             :     AP_Logger_Backend *_logger_backend = nullptr;
      23             : };
      24             : 
      25             : 
      26             : class LoggerMessageWriter_WriteSysInfo : public LoggerMessageWriter {
      27             : public:
      28             : 
      29             :     void reset() override;
      30             :     void process() override;
      31             : 
      32             : private:
      33             :     enum class Stage : uint8_t {
      34             :         FIRMWARE_STRING = 0,
      35             :         GIT_VERSIONS,
      36             :         VER,  // i.e. the "VER" message
      37             :         SYSTEM_ID,
      38             :         PARAM_SPACE_USED,
      39             :         RC_PROTOCOL,
      40             :         RC_OUTPUT,
      41             : #if AP_RTC_LOGGING_ENABLED
      42             :         LOG_RTC_MSG,
      43             : #endif  // AP_RTC_LOGGING_ENABLED
      44             :     };
      45             :     Stage stage;
      46             : };
      47             : 
      48             : class LoggerMessageWriter_WriteEntireMission : public LoggerMessageWriter {
      49             : public:
      50             : 
      51             :     void reset() override;
      52             :     void process() override;
      53             : 
      54             : private:
      55             :     enum class Stage {
      56             :         WRITE_NEW_MISSION_MESSAGE = 0,
      57             :         WRITE_MISSION_ITEMS,
      58             :         DONE
      59             :     };
      60             : 
      61             :     uint16_t _mission_number_to_send;
      62             :     Stage stage;
      63             : };
      64             : 
      65             : class LoggerMessageWriter_WriteAllRallyPoints : public LoggerMessageWriter {
      66             : public:
      67             : 
      68             :     void reset() override;
      69             :     void process() override;
      70             : 
      71             : private:
      72             :     enum class Stage {
      73             :         WRITE_NEW_RALLY_MESSAGE = 0,
      74             :         WRITE_ALL_RALLY_POINTS,
      75             :         DONE
      76             :     };
      77             : 
      78             :     uint16_t _rally_number_to_send;
      79             :     Stage stage = Stage::WRITE_NEW_RALLY_MESSAGE;
      80             : };
      81             : 
      82             : #if HAL_LOGGER_FENCE_ENABLED
      83             : class LoggerMessageWriter_Write_Polyfence : public LoggerMessageWriter {
      84             : public:
      85             : 
      86             :     void reset() override;
      87             :     void process() override;
      88             : 
      89             : private:
      90             :     enum class Stage {
      91             :         WRITE_NEW_FENCE_MESSAGE = 0,
      92             :         WRITE_FENCE_ITEMS,
      93             :         DONE
      94             :     };
      95             : 
      96             :     uint16_t _fence_number_to_send;
      97             :     Stage stage;
      98             : };
      99             : #endif // HAL_LOGGER_FENCE_ENABLED
     100             : 
     101             : class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
     102             : public:
     103        2094 :     LoggerMessageWriter_DFLogStart() :
     104        2094 :         _writesysinfo()
     105             : #if AP_MISSION_ENABLED
     106        2094 :         , _writeentiremission()
     107             : #endif
     108             : #if HAL_RALLY_ENABLED
     109        2094 :         , _writeallrallypoints()
     110             : #endif
     111             : #if HAL_LOGGER_FENCE_ENABLED
     112        4188 :         , _writeallpolyfence()
     113             : #endif
     114             :         {
     115        2094 :         }
     116             : 
     117        2094 :     void set_logger_backend(class AP_Logger_Backend *backend) override final {
     118        2094 :         LoggerMessageWriter::set_logger_backend(backend);
     119        2094 :         _writesysinfo.set_logger_backend(backend);
     120             : #if AP_MISSION_ENABLED
     121        2094 :         _writeentiremission.set_logger_backend(backend);
     122             : #endif
     123             : #if HAL_RALLY_ENABLED
     124        2094 :         _writeallrallypoints.set_logger_backend(backend);
     125             : #endif
     126             : #if HAL_LOGGER_FENCE_ENABLED
     127        2094 :         _writeallpolyfence.set_logger_backend(backend);
     128             : #endif
     129        2094 :     }
     130             : 
     131             :     bool out_of_time_for_writing_messages_df() const;
     132             : 
     133             :     void reset() override;
     134             :     void process() override;
     135     4004167 :     bool fmt_done() const { return _fmt_done; }
     136             :     bool params_done() const { return _params_done; }
     137             : 
     138             :     // reset some writers so we push stuff out to logs again.  Will
     139             :     // only work if we are in state DONE!
     140             : #if AP_MISSION_ENABLED
     141             :     bool writeentiremission();
     142             : #endif
     143             : #if HAL_RALLY_ENABLED
     144             :     bool writeallrallypoints();
     145             : #endif
     146             : #if HAL_LOGGER_FENCE_ENABLED
     147             :     bool writeallfence();
     148             : #endif
     149             : 
     150             : private:
     151             : 
     152             :     // check for using too much time
     153             :     static bool check_process_limit(uint32_t start_us);
     154             : 
     155             :     enum class Stage {
     156             :         FORMATS = 0,
     157             :         UNITS,
     158             :         MULTIPLIERS,
     159             :         FORMAT_UNITS,
     160             :         PARMS,
     161             :         VEHICLE_MESSAGES,
     162             :         RUNNING_SUBWRITERS, // must be last thing to run as we can redo bits of these
     163             :         DONE,
     164             :     };
     165             : 
     166             :     bool _fmt_done;
     167             :     bool _params_done;
     168             : 
     169             :     Stage stage;
     170             : 
     171             :     uint16_t next_format_to_send;
     172             : 
     173             :     uint8_t _next_unit_to_send;
     174             :     uint8_t _next_format_unit_to_send;
     175             :     uint8_t _next_multiplier_to_send;
     176             : 
     177             :     AP_Param::ParamToken token;
     178             :     AP_Param *ap;
     179             :     float param_default;
     180             :     enum ap_var_type type;
     181             : 
     182             : 
     183             :     LoggerMessageWriter_WriteSysInfo _writesysinfo;
     184             : #if AP_MISSION_ENABLED
     185             :     LoggerMessageWriter_WriteEntireMission _writeentiremission;
     186             : #endif
     187             : #if HAL_RALLY_ENABLED
     188             :     LoggerMessageWriter_WriteAllRallyPoints _writeallrallypoints;
     189             : #endif
     190             : #if HAL_LOGGER_FENCE_ENABLED
     191             :     LoggerMessageWriter_Write_Polyfence _writeallpolyfence;
     192             : #endif
     193             : };