/home/travis/build/lis-epfl/MAVRIC_Library/communication/data_logging.hpp

/*******************************************************************************
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 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
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 ******************************************************************************/

/*******************************************************************************
 * \file data_logging.hpp
 *
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 *
 * \brief Performs the data logging on a file
 *
 ******************************************************************************/


#ifndef DATA_LOGGING_HPP__
#define DATA_LOGGING_HPP__

#include "status/state.hpp"
#include "hal/common/file.hpp"
#include "hal/common/console.hpp"

typedef struct
{
    const double* param;                                              
    char param_name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN];  
    mavlink_message_type_t data_type;                           
    uint8_t precision;                                          
} data_logging_entry_t;





class Data_logging
{
public:
    typedef struct
    {
        uint16_t max_logs;                          
        bool debug;                                 
        uint32_t log_data;                          
        bool continuous_write;                      
    } conf_t;

    static conf_t default_config()
    {
        conf_t conf    = {};

        conf.max_logs               = 500;
        conf.debug                  = true;
        conf.log_data               = 0;     // 1: log data, 0: no log data
        conf.continuous_write       = false;
        return conf;
    };

    Data_logging(File& file, State& state, conf_t config = default_config());

    bool create_new_log_file(const char* file_name_, uint32_t sysid);

    bool update();


    bool start(void);


    bool stop(void);


    template<typename T>
    bool add_field(const T* val, const char* param_name);


    template<typename T>
    bool add_field(const T* val, const char* param_name, uint32_t precision);


protected:

    virtual uint32_t max_count(void) = 0;


    virtual data_logging_entry_t* list() = 0;


private:

    static const uint8_t MAX_FILENAME_LENGTH = 255;    

    void add_header_name(void);


    void write_separator(uint16_t param_num);


    void log_parameters(void);


    void seek(void);


    bool filename_append_extension(char* output, char* filename, uint32_t length);


    bool filename_append_int(char* output, char* filename, uint32_t num, uint32_t length);


    bool open_new_log_file(void);


    bool checksum_control(void);

    conf_t config_;                

    bool debug_;                                 
    uint32_t data_logging_count_;               

    char file_name_[MAX_FILENAME_LENGTH];                        
    char name_n_extension_[MAX_FILENAME_LENGTH];                 

    bool file_init_;                             
    bool file_opened_;                           
    bool sys_status_;                            

    uint32_t log_data_;                          

    uint32_t logging_time_;                      

    double cksum_a_;                             
    double cksum_b_;                             

    uint32_t sys_id_;                            

    Console<File> console_;                      

    State& state_;                              
};


template<uint32_t N>
class Data_logging_T: public Data_logging
{
public:
    Data_logging_T(File& file, State& state, conf_t config = default_config()):
        Data_logging(file, state, config)
    {}

protected:

    uint32_t max_count(void)
    {
        return N;
    }

    data_logging_entry_t* list()
    {
        return list_;
    }

private:
    data_logging_entry_t list_[N];            
};


static inline bool task_data_logging_update(Data_logging* data_logging)
{
    return data_logging->update();
}

#endif /* DATA_LOGGING_HPP__ */