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AP_Logger: tidy construction of backends #19130

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Nov 8, 2021
Merged

AP_Logger: tidy construction of backends #19130

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95 changes: 24 additions & 71 deletions libraries/AP_Logger/AP_Logger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,95 +172,48 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
validate_structures(structures, num_types);
dump_structures(structures, num_types);
#endif
if (_next_backend == LOGGER_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
return;
}
_num_types = num_types;
_structures = structures;

// the "main" logging type needs to come before mavlink so that
// index 0 is correct
static const struct {
Backend_Type type;
AP_Logger_Backend* (*probe_fn)(AP_Logger&, LoggerMessageWriter_DFLogStart*);
} backend_configs[] {
#if HAL_LOGGING_FILESYSTEM_ENABLED
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");
// note that message_writer is leaked here; costs several
// hundred bytes to fix for marginal utility
} else {
_next_backend++;
}
}
#endif // HAL_LOGGING_FILESYSTEM_ENABLED

{ Backend_Type::FILESYSTEM, AP_Logger_File::probe },
#endif
#if HAL_LOGGING_DATAFLASH_ENABLED
if (_params.backend_types & uint8_t(Backend_Type::BLOCK)) {
if (_next_backend == LOGGER_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");
// note that message_writer is leaked here; costs several
// hundred bytes to fix for marginal utility
} else {
_next_backend++;
}
}
{ Backend_Type::BLOCK, AP_Logger_DataFlash::probe },
#endif

#if HAL_LOGGING_SITL_ENABLED
if (_params.backend_types & uint8_t(Backend_Type::BLOCK)) {
if (_next_backend == LOGGER_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");
// note that message_writer is leaked here; costs several
// hundred bytes to fix for marginal utility
} else {
_next_backend++;
}
}
{ Backend_Type::BLOCK, AP_Logger_SITL::probe },
#endif
// the "main" logging type needs to come before mavlink so that index 0 is correct
#if HAL_LOGGING_MAVLINK_ENABLED
if (_params.backend_types & uint8_t(Backend_Type::MAVLINK)) {
{ Backend_Type::MAVLINK, AP_Logger_MAVLink::probe },
#endif
};

for (const auto &backend_config : backend_configs) {
if ((_params.backend_types & uint8_t(backend_config.type)) == 0) {
continue;
}
if (_next_backend == LOGGER_MAX_BACKENDS) {
AP_HAL::panic("Too many backends");
AP_BoardConfig::config_error("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 (message_writer == nullptr) {
AP_BoardConfig::allocation_error("mesage writer");
}
backends[_next_backend] = backend_config.probe_fn(*this, message_writer);
if (backends[_next_backend] == nullptr) {
hal.console->printf("Unable to open AP_Logger_MAVLink");
// note that message_writer is leaked here; costs several
// hundred bytes to fix for marginal utility
} else {
_next_backend++;
AP_BoardConfig::allocation_error("logger backend");
}
_next_backend++;
}
#endif

for (uint8_t i=0; i<_next_backend; i++) {
backends[i]->Init();
Expand Down
4 changes: 4 additions & 0 deletions libraries/AP_Logger/AP_Logger_DataFlash.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@ class AP_Logger_DataFlash : public AP_Logger_Block {
public:
AP_Logger_DataFlash(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
AP_Logger_Block(front, writer) {}
static AP_Logger_Backend *probe(AP_Logger &front,
LoggerMessageWriter_DFLogStart *ls) {
return new AP_Logger_DataFlash(front, ls);
}
void Init(void) override;
bool CardInserted() const override { return !flash_died && df_NumPages > 0; }

Expand Down
5 changes: 2 additions & 3 deletions libraries/AP_Logger/AP_Logger_File.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,9 @@ extern const AP_HAL::HAL& hal;
constructor
*/
AP_Logger_File::AP_Logger_File(AP_Logger &front,
LoggerMessageWriter_DFLogStart *writer,
const char *log_directory) :
LoggerMessageWriter_DFLogStart *writer) :
AP_Logger_Backend(front, writer),
_log_directory(log_directory)
_log_directory(HAL_BOARD_LOG_DIRECTORY)
{
df_stats_clear();
}
Expand Down
8 changes: 6 additions & 2 deletions libraries/AP_Logger/AP_Logger_File.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,12 @@ class AP_Logger_File : public AP_Logger_Backend
public:
// constructor
AP_Logger_File(AP_Logger &front,
LoggerMessageWriter_DFLogStart *,
const char *log_directory);
LoggerMessageWriter_DFLogStart *);

static AP_Logger_Backend *probe(AP_Logger &front,
LoggerMessageWriter_DFLogStart *ls) {
return new AP_Logger_File(front, ls);
}

// initialisation
void Init() override;
Expand Down
5 changes: 5 additions & 0 deletions libraries/AP_Logger/AP_Logger_MAVLink.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,11 @@ class AP_Logger_MAVLink : public AP_Logger_Backend
// ::fprintf(stderr, "DM: Using %u blocks\n", _blockcount);
}

static AP_Logger_Backend *probe(AP_Logger &front,
LoggerMessageWriter_DFLogStart *ls) {
return new AP_Logger_MAVLink(front, ls);
}

// initialisation
void Init() override;

Expand Down
6 changes: 6 additions & 0 deletions libraries/AP_Logger/AP_Logger_SITL.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,12 @@ class AP_Logger_SITL : public AP_Logger_Block {
public:
AP_Logger_SITL(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
AP_Logger_Block(front, writer) {}

static AP_Logger_Backend *probe(AP_Logger &front,
LoggerMessageWriter_DFLogStart *ls) {
return new AP_Logger_SITL(front, ls);
}

void Init() override;
bool CardInserted() const override;
static constexpr const char *filename = "dataflash.bin";
Expand Down