From c39988a3cc523a09171e96e550a5bb7ad149853a Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Fri, 7 Jun 2024 11:25:13 +0200
Subject: [PATCH] [ARP] add mavlink logger id message interaction
---
src/boards/Groundstation/Automated/Hub.cpp | 47 ++++++++++++++++++++++
1 file changed, 47 insertions(+)
diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index b0223dcd4..2fa587ed6 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -159,6 +159,53 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
sendAck(msg);
break;
}
+ case MAVLINK_MSG_ID_SYSTEM_TM_REQUEST_TC:
+ {
+ mavlink_message_t msg_response;
+ SystemTMList tmId = static_cast<SystemTMList>(
+ mavlink_msg_system_tm_request_tc_get_tm_id(&msg));
+
+ // If it is handled create the msg_response, otherwise return
+ // NACK
+ switch (tmId)
+ {
+ case SystemTMList::MAV_LOGGER_ID:
+ {
+ mavlink_logger_tm_t tm;
+
+ LoggerStats stats = Logger::getInstance().getStats();
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+ tm.log_number = stats.logNumber;
+ tm.too_large_samples = stats.tooLargeSamples;
+ tm.dropped_samples = stats.droppedSamples;
+ tm.queued_samples = stats.queuedSamples;
+ tm.buffers_filled = stats.buffersFilled;
+ tm.buffers_written = stats.buffersWritten;
+ tm.writes_failed = stats.writesFailed;
+ tm.last_write_error = stats.lastWriteError;
+ tm.average_write_time = stats.averageWriteTime;
+ tm.max_write_time = stats.maxWriteTime;
+
+ mavlink_msg_logger_tm_encode(SysIDs::MAV_SYSID_ARP,
+ Groundstation::GS_COMPONENT_ID,
+ &msg_response, &tm);
+
+ break;
+ }
+ default:
+ {
+ sendNack(msg);
+ return;
+ }
+ }
+
+ // Dispatching the created response message and then returning
+ // the ACK
+ dispatchIncomingMsg(msg_response);
+ sendAck(msg);
+ return;
+ }
}
send_ok |= radio->sendMsg(msg);
--
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