ulog_messages.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2016 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
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#include <cstdint>

enum class ULogMessageType : uint8_t
{
  FORMAT = 'F',
  DATA = 'D',
  INFO = 'I',
  INFO_MULTIPLE = 'M',
  PARAMETER = 'P',
  ADD_LOGGED_MSG = 'A',
  REMOVE_LOGGED_MSG = 'R',
  SYNC = 'S',
  DROPOUT = 'O',
  LOGGING = 'L',
  FLAG_BITS = 'B',
};

/* declare message data structs with byte alignment (no padding) */
#pragma pack(push, 1)

struct ulog_file_header_s
{
  uint8_t magic[8];
  uint64_t timestamp;
};

#define ULOG_MSG_HEADER_LEN 3  // accounts for msg_size and msg_type
struct ulog_message_header_s
{
  uint16_t msg_size;
  uint8_t msg_type;
};

struct ulog_message_format_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FORMAT);

  char format[1500];
};

struct ulog_message_add_logged_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::ADD_LOGGED_MSG);

  uint8_t multi_id;
  uint16_t msg_id;
  char message_name[255];
};

struct ulog_message_remove_logged_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::REMOVE_LOGGED_MSG);

  uint16_t msg_id;
};

struct ulog_message_sync_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::SYNC);

  uint8_t sync_magic[8];
};

struct ulog_message_dropout_s
{
  uint16_t msg_size = sizeof(uint16_t);  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DROPOUT);

  uint16_t duration;  // in ms
};

struct ulog_message_data_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DATA);

  uint16_t msg_id;
};

struct ulog_message_info_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO);

  uint8_t key_len;
  char key[255];
};

struct ulog_message_info_multiple_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO_MULTIPLE);

  uint8_t is_continued;  
  uint8_t key_len;
  char key[255];
};

struct ulog_message_logging_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING);

  uint8_t log_level;  // same levels as in the linux kernel
  uint64_t timestamp;
  char message[128];  // defines the maximum length of a logged message string
};

struct ulog_message_parameter_header_s
{
  uint16_t msg_size;
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);

  uint8_t key_len;
  char key[255];
};

#define ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK (1 << 0)

struct ulog_message_flag_bits_s
{
  uint16_t msg_size;
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FLAG_BITS);

  uint8_t compat_flags[8];
  uint8_t incompat_flags[8];     
  uint64_t appended_offsets[3];  
};

#pragma pack(pop)