Mttr rebase 4.0 logging hotfixes

libraries/AP_HAL_ChibiOS/Storage.cpp

@@ -103,7 +103,7 @@ void Storage::_storage_open(void)
             }
             // pre-fill to full size
             if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
-                AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
+                (CH_STORAGE_SIZE-ret > 0 && AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret)) {
                 ::printf("setup failed for " HAL_STORAGE_FILE "\n");
                 AP::FS().close(log_fd);
                 log_fd = -1;

libraries/AP_Logger/AP_Logger.cpp

@@ -542,6 +542,19 @@ bool AP_Logger::should_log(const uint32_t mask) const
     return true;
 }
 
+/*
+  return true if in log download which should prevent logging
+ */
+bool AP_Logger::in_log_download() const
+{
+    if (uint8_t(_params.backend_types) & uint8_t(Backend_Type::BLOCK)) {
+        // when we have a BLOCK backend then listing completely prevents logging
+        return transfer_activity != transfer_activity_t::IDLE;
+    }
+    // for other backends listing does not interfere with logging
+    return transfer_activity == transfer_activity_t::SENDING;
+}
+
 const struct UnitStructure *AP_Logger::unit(uint16_t num) const
 {
     return &_units[num];

libraries/AP_Logger/AP_Logger.h

@@ -364,7 +364,7 @@ class AP_Logger
     bool vehicle_is_armed() const { return _armed; }
 
     void handle_log_send();
-    bool in_log_download() const { return transfer_activity != IDLE; }
+    bool in_log_download() const;
 
     float quiet_nanf() const { return nanf("0x4152"); } // "AR"
     double quiet_nan() const { return nan("0x4152445550490a"); } // "ARDUPI"
@@ -488,6 +488,9 @@ class AP_Logger
         SENDING, // actively sending log_sending packets
     } transfer_activity = IDLE;
 
+    // last time we handled a log-transfer-over-mavlink message:
+    uint32_t _last_mavlink_log_transfer_message_handled_ms;
+
     // next log list entry to send
     uint16_t _log_next_list_entry;
 

libraries/AP_Logger/AP_Logger_Backend.cpp

@@ -381,6 +381,18 @@ bool AP_Logger_Backend::ShouldLog(bool is_critical)
         return false;
     }
 
+    if (_front.in_log_download() &&
+        _front._last_mavlink_log_transfer_message_handled_ms != 0) {
+        if (AP_HAL::millis() - _front._last_mavlink_log_transfer_message_handled_ms < 10000) {
+            if (!_front.vehicle_is_armed()) {
+                // user is transfering files via mavlink
+                return false;
+            }
+        } else {
+            _front._last_mavlink_log_transfer_message_handled_ms = 0;
+        }
+    }
+
     if (is_critical && have_logged_armed && !_front._params.file_disarm_rot) {
         // if we have previously logged while armed then we log all
         // critical messages from then on. That fixes a problem where

libraries/AP_Logger/AP_Logger_File.cpp

@@ -792,6 +792,10 @@ void AP_Logger_File::stop_logging(void)
 
 void AP_Logger_File::PrepForArming()
 {
+    if (_rotate_pending) {
+        _rotate_pending = false;
+        stop_logging();
+    }
     if (logging_started() &&
         _front._params.file_disarm_rot == 0) {
         return;

libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp

@@ -45,6 +45,7 @@ void AP_Logger::handle_log_message(GCS_MAVLINK &link, const mavlink_message_t &m
     if (!should_handle_log_message()) {
         return;
     }
+    _last_mavlink_log_transfer_message_handled_ms = AP_HAL::millis();
     switch (msg.msgid) {
     case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
         handle_log_request_list(link, msg);

libraries/AP_Logger/LoggerMessageWriter.cpp

@@ -1,10 +1,13 @@
 #include "AP_Common/AP_FWVersion.h"
 #include "LoggerMessageWriter.h"
+#include <AP_Scheduler/AP_Scheduler.h>
 
 #define FORCE_VERSION_H_INCLUDE
 #include "ap_version.h"
 #undef FORCE_VERSION_H_INCLUDE
 
+#define MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US 200
+
 extern const AP_HAL::HAL& hal;
 
 /* LogStartup - these are simple state machines which allow us to
@@ -39,6 +42,9 @@ void LoggerMessageWriter_DFLogStart::process()
     case Stage::FORMATS:
         // write log formats so the log is self-describing
         while (next_format_to_send < _logger_backend->num_types()) {
+            if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+                return;
+            }
             if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
                 return; // call me again!
             }
@@ -50,6 +56,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::UNITS:
         while (_next_unit_to_send < _logger_backend->num_units()) {
+            if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+                return;
+            }
             if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
                 return; // call me again!
             }
@@ -60,6 +69,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::MULTIPLIERS:
         while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
+            if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+                return;
+            }
             if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
                 return; // call me again!
             }
@@ -70,6 +82,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::FORMAT_UNITS:
         while (_next_format_unit_to_send < _logger_backend->num_types()) {
+            if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+                return;
+            }
             if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
                 return; // call me again!
             }
@@ -80,6 +95,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::PARMS:
         while (ap) {
+            if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+                return;
+            }
             if (!_logger_backend->Write_Parameter(ap, token, type)) {
                 return;
             }
@@ -91,6 +109,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::SYSINFO:
         _writesysinfo.process();
+        if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+            return;
+        }
         if (!_writesysinfo.finished()) {
             return;
         }
@@ -99,6 +120,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::WRITE_ENTIRE_MISSION:
         _writeentiremission.process();
+        if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+            return;
+        }
         if (!_writeentiremission.finished()) {
             return;
         }
@@ -107,6 +131,9 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::WRITE_ALL_RALLY_POINTS:
         _writeallrallypoints.process();
+        if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
+            return;
+        }
         if (!_writeallrallypoints.finished()) {
             return;
         }