mavlink: log handler rewrite for improved efficiency (#23421)

src/modules/mavlink/mavlink_log_handler.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014, 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2024 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
@@ -33,76 +33,86 @@
 
 #pragma once
 
-/// @file mavlink_log_handler.h
+#include <perf/perf_counter.h>
-/// @author px4dev, Gus Grubba <mavlink@grubba.com>
-
-#include <dirent.h>
-#include <queue.h>
-#include <time.h>
-#include <stdio.h>
-#include <cstdbool>
-#include <drivers/drv_hrt.h>
-
 #include "mavlink_bridge_header.h"
 
 class Mavlink;
 
-// MAVLink LOG_* Message Handler
 class MavlinkLogHandler
 {
 public:
 	MavlinkLogHandler(Mavlink &mavlink);
 	~MavlinkLogHandler();
 
-	// Handle possible LOG message
+	void send();
 	void handle_message(const mavlink_message_t *msg);
 
-	/**
+private:
-	 * Handle sending of messages. Call this regularly at a fixed frequency.
+	struct LogEntry {
-	 * @param t current time
+		uint16_t id{0xffff};
-	 */
+		uint32_t time_utc{};
-	void send();
+		uint32_t size_bytes{};
+		FILE *fp{nullptr};
+		char filepath[60];
+		uint32_t offset{};
+	};
+
+	struct LogEntryRequest {
+		uint16_t id{0xffff};
+		uint32_t start_offset{};
+		uint32_t byte_count{};
+	};
+
+	struct LogListRequest {
+		uint16_t first_id{0};
+		uint16_t last_id{0};
+		uint16_t current_id{0};
+		int file_index{0};
+	};
+
+	enum class LogHandlerState {
+		Idle,
+		Listing,
+		SendingData
+	};
+
+	// mavlink message handlers
+	void handle_log_request_list(const mavlink_message_t *msg);
+	void handle_log_request_data(const mavlink_message_t *msg);
+	void handle_log_request_end(const mavlink_message_t *msg);
+	void handle_log_erase(const mavlink_message_t *msg);
+
+	// state functions
+	void state_idle();
+	void state_listing();
+	void state_sending_data();
+
+	// Log request list
+	bool create_log_list_file();
+	void write_entries_to_file(FILE *f, const char *dir);
+	void send_log_entry(uint32_t size, uint32_t time_utc);
+
+	// Log request data
+	bool log_entry_from_id(uint16_t log_id, LogEntry *entry);
+
+	// Log erase
+	void delete_all_logs(const char *dir);
 
-	unsigned get_size();
 
 private:
-	enum class LogHandlerState {
+	LogHandlerState _state{LogHandlerState::Idle};
-		Inactive,     //There is no active action of log handler
-		Idle,         //The log handler is not sending list/data, but list has been sent
-		Listing,      //File list is being send
-		SendingData  //File Data is being send
-	};
-	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);
-
-	void _reset_list_helper();
-	void _init_list_helper();
-	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);
-	static void _delete_all(const char *dir);
-	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);
-	void _close_and_unlink_files();
-
-	size_t _log_send_listing();
-	size_t _log_send_data();
-
-	LogHandlerState _current_status{LogHandlerState::Inactive};
 	Mavlink &_mavlink;
 
-	int         _next_entry{0};
+	// Log list
-	int         _last_entry{0};
+	LogListRequest _list_request{};
-	int         _log_count{0};
+	int _num_logs{0};
+	bool _logs_listed{false};
 
-	uint16_t    _current_log_index{UINT16_MAX};
+	// Log data
-	uint32_t    _current_log_size{0};
+	LogEntry 			_current_entry{};
-	uint32_t    _current_log_data_offset{0};
+	LogEntryRequest 	_entry_request{};
-	uint32_t    _current_log_data_remaining{0};
+	bool 				_file_send_finished{};
-	FILE       *_current_log_filep{nullptr};
+
-	char        _current_log_filename[128]; //TODO: consider to allocate on runtime
+	perf_counter_t _create_file_elapsed{perf_alloc(PC_ELAPSED, MODULE_NAME": create file")};
+	perf_counter_t _listing_elapsed{perf_alloc(PC_ELAPSED, MODULE_NAME": listing")};
 };