log_writer.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#include "log_writer.h"

namespace px4
{
namespace logger
{

LogWriter::LogWriter(Backend configured_backend, size_t file_buffer_size)
    : _backend(configured_backend)
{
    if (configured_backend & BackendFile) {
        _log_writer_file_for_write = _log_writer_file = new LogWriterFile(file_buffer_size);

        if (!_log_writer_file) {
            PX4_ERR("LogWriterFile allocation failed");
        }
    }

    if (configured_backend & BackendMavlink) {
        _log_writer_mavlink_for_write = _log_writer_mavlink = new LogWriterMavlink();

        if (!_log_writer_mavlink) {
            PX4_ERR("LogWriterMavlink allocation failed");
        }
    }
}

bool LogWriter::init()
{
    if (_log_writer_file) {
        if (!_log_writer_file->init()) {
            PX4_ERR("alloc failed");
            return false;
        }

        int ret = _log_writer_file->thread_start();

        if (ret) {
            PX4_ERR("failed to create writer thread (%i)", ret);
            return false;
        }
    }

    if (_log_writer_mavlink) {
        if (!_log_writer_mavlink->init()) {
            PX4_ERR("mavlink init failed");
            return false;
        }
    }

    return true;
}

LogWriter::~LogWriter()
{
    if (_log_writer_file) {
        delete (_log_writer_file);
    }

    if (_log_writer_mavlink) {
        delete (_log_writer_mavlink);
    }
}

bool LogWriter::is_started(LogType type) const
{
    bool ret = false;

    if (_log_writer_file) {
        ret = _log_writer_file->is_started(type);
    }

    if (_log_writer_mavlink && type == LogType::Full) {
        ret = ret || _log_writer_mavlink->is_started();
    }

    return ret;
}

bool LogWriter::is_started(LogType type, Backend query_backend) const
{
    if (query_backend == BackendFile && _log_writer_file) {
        return _log_writer_file->is_started(type);
    }

    if (query_backend == BackendMavlink && _log_writer_mavlink && type == LogType::Full) {
        return _log_writer_mavlink->is_started();
    }

    return false;
}

void LogWriter::start_log_file(LogType type, const char *filename)
{
    if (_log_writer_file) {
        _log_writer_file->start_log(type, filename);
    }
}

void LogWriter::stop_log_file(LogType type)
{
    if (_log_writer_file) {
        _log_writer_file->stop_log(type);
    }
}

void LogWriter::start_log_mavlink()
{
    if (_log_writer_mavlink) {
        _log_writer_mavlink->start_log();
    }
}

void LogWriter::stop_log_mavlink()
{
    if (_log_writer_mavlink) {
        _log_writer_mavlink->stop_log();
    }
}

void LogWriter::thread_stop()
{
    if (_log_writer_file) {
        _log_writer_file->thread_stop();
    }
}

int LogWriter::write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start)
{
    int ret_file = 0, ret_mavlink = 0;

    if (_log_writer_file_for_write) {
        ret_file = _log_writer_file_for_write->write_message(type, ptr, size, dropout_start);
    }

    if (_log_writer_mavlink_for_write && type == LogType::Full) {
        ret_mavlink = _log_writer_mavlink_for_write->write_message(ptr, size);
    }

    // file backend errors takes precedence
    if (ret_file != 0) {
        return ret_file;
    }

    return ret_mavlink;
}

void LogWriter::select_write_backend(Backend sel_backend)
{
    if (sel_backend & BackendFile) {
        _log_writer_file_for_write = _log_writer_file;

    } else {
        _log_writer_file_for_write = nullptr;
    }

    if (sel_backend & BackendMavlink) {
        _log_writer_mavlink_for_write = _log_writer_mavlink;

    } else {
        _log_writer_mavlink_for_write = nullptr;
    }
}

}
}