mavlink_log_handler.h

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#pragma once

/// @file mavlink_log_handler.h
/// @author px4dev, Gus Grubba <mavlink@grubba.com>

#include <dirent.h>
#include <queue.h>
#include <time.h>
#include <stdio.h>
#include <cstdbool>
#include <v2.0/mavlink_types.h>
#include <drivers/drv_hrt.h>

class Mavlink;

// Log Listing Helper
class LogListHelper
{
public:
    LogListHelper();
    ~LogListHelper();

public:
    static void delete_all(const char *dir);

public:

    bool        get_entry(int idx, uint32_t &size, uint32_t &date, char *filename = 0, int filename_len = 0);
    bool        open_for_transmit();
    size_t      get_log_data(uint8_t len, uint8_t *buffer);

    enum {
        LOG_HANDLER_IDLE,
        LOG_HANDLER_LISTING,
        LOG_HANDLER_SENDING_DATA
    };

    int         next_entry;
    int         last_entry;
    int         log_count;

    int         current_status;
    uint16_t    current_log_index;
    uint32_t    current_log_size;
    uint32_t    current_log_data_offset;
    uint32_t    current_log_data_remaining;
    FILE       *current_log_filep;
    char        current_log_filename[128];

private:
    void        _init();
    bool        _get_session_date(const char *path, const char *dir, time_t &date);
    void        _scan_logs(FILE *f, const char *dir, time_t &date);
    bool        _get_log_time_size(const char *path, const char *file, time_t &date, uint32_t &size);
};

// MAVLink LOG_* Message Handler
class MavlinkLogHandler
{
public:
    MavlinkLogHandler(Mavlink *mavlink);

    // Handle possible LOG message
    void handle_message(const mavlink_message_t *msg);

    /**
     * Handle sending of messages. Call this regularly at a fixed frequency.
     * @param t current time
     */
    void send(const hrt_abstime t);

    unsigned get_size();

private:
    void _log_message(const mavlink_message_t *msg);
    void _log_request_list(const mavlink_message_t *msg);
    void _log_request_data(const mavlink_message_t *msg);
    void _log_request_erase(const mavlink_message_t *msg);
    void _log_request_end(const mavlink_message_t *msg);

    size_t _log_send_listing();
    size_t _log_send_data();

    LogListHelper    *_pLogHandlerHelper;
    Mavlink *_mavlink;
};