Objectify log processor.

src/Vehicle/MavlinkLogManager.h

@@ -73,24 +73,31 @@ private:
 };
 
 //-----------------------------------------------------------------------------
-class CurrentRunningLog
+class MavlinkLogProcessor
 {
 public:
-    CurrentRunningLog()
-        : fd(NULL)
-        , record(NULL)
-        , written(0)
-    {
-    }
-    ~CurrentRunningLog()
-    {
-        close();
-    }
-    void close();
-    FILE*               fd;
-    QString             fileName;
-    MavlinkLogFiles*    record;
-    quint32             written;
+    MavlinkLogProcessor();
+    ~MavlinkLogProcessor();
+    void                close       ();
+    bool                valid       ();
+    bool                create      (MavlinkLogManager *manager, const QString path, uint8_t id);
+    MavlinkLogFiles*    record      () { return _record; }
+    QString             fileName    () { return _fileName; }
+    bool                processStreamData(uint16_t _sequence, uint8_t first_message, QByteArray data);
+private:
+    bool                _checkSequence(uint16_t seq, int &num_drops);
+    QByteArray          _writeUlogMessage(QByteArray &data);
+    void                _writeData(void* data, int len);
+private:
+    FILE*               _fd;
+    quint32             _written;
+    int                 _sequence;
+    int                 _numDrops;
+    bool                _gotHeader;
+    bool                _error;
+    QByteArray          _ulogMessage;
+    QString             _fileName;
+    MavlinkLogFiles*    _record;
 };
 
 //-----------------------------------------------------------------------------
@@ -163,7 +170,7 @@ private slots:
     void _dataAvailable             ();
     void _uploadProgress            (qint64 bytesSent, qint64 bytesTotal);
     void _activeVehicleChanged      (Vehicle* vehicle);
-    void _mavlinkLogData            (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
+    void _mavlinkLogData            (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked);
     void _armedChanged              (bool armed);
     void _commandLongAck            (uint8_t compID, uint16_t command, uint8_t result);
     void _processCmdAck             ();
@@ -191,8 +198,7 @@ private:
     Vehicle*                _vehicle;
     bool                    _logRunning;
     bool                    _loggingDisabled;
-    CurrentRunningLog*      _currentSavingFile;
-    uint16_t                _sequence;
+    MavlinkLogProcessor*    _logProcessor;
     bool                    _deleteAfterUpload;
     int                     _loggingCmdTryCount;
     QTimer                  _ackTimer;

src/Vehicle/Vehicle.cc

@@ -2015,7 +2015,8 @@ Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
 {
     mavlink_logging_data_t log;
     mavlink_msg_logging_data_decode(&message, &log);
-    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, false);
+    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence,
+        log.first_message_offset, QByteArray((const char*)log.data, log.length), false);
 }
 
 //-----------------------------------------------------------------------------
@@ -2025,7 +2026,8 @@ Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
     mavlink_logging_data_t log;
     mavlink_msg_logging_data_decode(&message, &log);
     _ackMavlinkLogData(log.sequence);
-    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, true);
+    emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence,
+        log.first_message_offset, QByteArray((const char*)log.data, log.length), true);
 }
 
 //-----------------------------------------------------------------------------

src/Vehicle/Vehicle.h

@@ -643,7 +643,7 @@ signals:
     void mavlinkScaledImu3(mavlink_message_t message);
 
     // Mavlink Log Download
-    void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t length, uint8_t first_message, const uint8_t* data, bool acked);
+    void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked);
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);