core/services/ardupilot_manager/mavlink_proxy: Implement TlogCondition to mavlink-server

Author: joaoantoniocardoso

core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py

@@ -1,9 +1,8 @@
 import re
 import subprocess
-from datetime import datetime
 from typing import Optional
 
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 
 
@@ -38,9 +37,15 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 return f"zenoh:{endpoint.place}:{endpoint.argument}"
             raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
 
-        # MAVlink-Server takes direct file paths as endpoints, so we generate a timestamped file path
-        now = datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
-        logging_endpoint = f"tlogwriter:/root/.config/ardupilot-manager/firmware/logs/mavlink-server-{now}.tlog"
+        def convert_tlog_condition(tlog_condition: TLogCondition) -> str:
+            match tlog_condition:
+                case TLogCondition.Always:
+                    return "?when=always"
+                case TLogCondition.WhileArmed:
+                    return "?when=while_armed"
+
+        tlog_condition_arg = convert_tlog_condition(self.tlog_condition())
+        logging_endpoint = f"tlogwriter://{self.logdir()}{tlog_condition_arg}"
         str_endpoints = [convert_endpoint(endpoint) for endpoint in [master_endpoint, *self.endpoints()]]
         endpoints = " ".join([*str_endpoints, logging_endpoint])