Parallel mavlink logging for LMC

msg/CMakeLists.txt

@@ -192,7 +192,6 @@ set(msg_files
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UlogStreamAcked.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg

msg/UlogStream.msg

@@ -17,3 +17,4 @@ uint8 flags			# see FLAGS_*
 uint8[249] data		# ulog data
 
 uint8 ORB_QUEUE_LENGTH = 16	# TODO: we might be able to reduce this if mavlink polled on the topic
+# TOPICS ulog_stream ulog_stream_acked

src/modules/logger/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 if(CONFIG_LOGGER_PARALLEL_LOGGING)
-	set(LOGGER_PARALLEL_COMPILE_FLAG "-DLOGGER_PARALLEL_LOGGING")
+       set(LOGGER_PARALLEL_COMPILE_FLAG "-DLOGGER_PARALLEL_LOGGING")
 endif()
 
 px4_add_module(

src/modules/logger/Kconfig

@@ -14,6 +14,6 @@ menuconfig USER_LOGGER
 menuconfig LOGGER_PARALLEL_LOGGING
 	bool "Custom mavlink logging protocol in logger"
 	default n
-	depends on MAVLINK_PARALLEL_LOGGING && MODULES_LOGGER
+	depends on MODULES_LOGGER
 	---help---
 		Utilize custom mavlink logging protocol for speed up logging start phase

src/modules/logger/log_writer.cpp

@@ -158,7 +158,7 @@ void LogWriter::thread_stop()
 	}
 }
 
-int LogWriter::write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start, bool acked)
+int LogWriter::write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start, bool reliable, bool wait)
 {
 	int ret_file = 0, ret_mavlink = 0;
 
@@ -167,7 +167,16 @@ int LogWriter::write_message(LogType type, void *ptr, size_t size, uint64_t drop
 	}
 
 	if (_log_writer_mavlink_for_write && type == LogType::Full) {
-		ret_mavlink = _log_writer_mavlink_for_write->write_message(ptr, size, acked);
+#ifdef LOGGER_PARALLEL_LOGGING
+
+		if (reliable) {
+			ret_mavlink = _log_writer_mavlink_for_write->write_reliable_message(ptr, size, wait);
+
+		} else
+#endif
+		{
+			ret_mavlink = _log_writer_mavlink_for_write->write_message(ptr, size);
+		}
 	}
 
 	// file backend errors takes precedence

src/modules/logger/log_writer.h

@@ -73,6 +73,19 @@ class LogWriter
 
 	void stop_log_mavlink();
 
+#ifdef LOGGER_PARALLEL_LOGGING
+	void wait_fifo_empty()
+	{
+		if (_log_writer_mavlink) {
+			_log_writer_mavlink->wait_fifo_count(0);
+
+			while (_log_writer_mavlink->reliable_fifo_is_sending()) {
+				usleep(10000);
+			}
+		}
+	}
+#endif
+
 	/**
 	 * whether logging is currently active or not (any of the selected backends).
 	 */
@@ -90,15 +103,16 @@ class LogWriter
 	 *         -1 if not enough space in the buffer left (file backend), -2 mavlink backend failed
 	 *  add type -> pass through, but not to mavlink if mission log
 	 */
-	int write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start = 0, bool acked = false);
+	int write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start = 0, bool reliable = false,
+			  bool wait = false);
 
 	/**
 	 * Select a backend, so that future calls to write_message() only write to the selected
 	 * sel_backend, until unselect_write_backend() is called.
 	 * @param backend
 	 */
 	void select_write_backend(Backend sel_backend);
-	void unselect_write_backend() { select_write_backend(BackendAll); }
+	void unselect_write_backend() { select_write_backend(_backend); }
 
 	/* file logging methods */
 
@@ -154,7 +168,11 @@ class LogWriter
 	{
 		if (_log_writer_file) { _log_writer_file->set_need_reliable_transfer(need_reliable); }
 
+#ifndef LOGGER_PARALLEL_LOGGING
+
 		if (_log_writer_mavlink) { _log_writer_mavlink->set_need_reliable_transfer(need_reliable && mavlink_backed_too); }
+
+#endif
 	}
 
 	bool need_reliable_transfer() const
@@ -165,7 +183,6 @@ class LogWriter
 
 		return false;
 	}
-
 #if defined(PX4_CRYPTO)
 	void set_encryption_parameters(px4_crypto_algorithm_t algorithm, uint8_t key_idx,  uint8_t exchange_key_idx)
 	{