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move default topics into logger.cpp; add on/off command

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look for alternate topic list at
/fs/microsd/etc/logging/logger_topics.txt
on and off commands have the same effect as arm/disarm
This commit is contained in:
Mark Whitehorn 2016-05-31 09:24:19 -06:00 committed by Beat Küng
parent 2bd15f1698
commit 0ca63fa379
2 changed files with 58 additions and 3 deletions
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55
src/modules/logger/logger.cpp
View File

@ -120,6 +120,24 @@ int logger_main(int argc, char *argv[])
return 0;
}
if (!strcmp(argv[1], "on")) {
if (logger_ptr != nullptr) {
logger_ptr->set_arm_override(true);
return 0;
}
return 1;
}
if (!strcmp(argv[1], "off")) {
if (logger_ptr != nullptr) {
logger_ptr->set_arm_override(false);
return 0;
}
return 1;
}
if (!strcmp(argv[1], "stop")) {
if (logger_ptr == nullptr) {
PX4_INFO("not running");
@ -157,7 +175,7 @@ void Logger::usage(const char *reason)
PX4_WARN("%s\n", reason);
}
PX4_INFO("usage: logger {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
PX4_INFO("usage: logger {start|stop|on|off|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 12\n"
"\t-e\tEnable logging right after start until disarm (otherwise only when armed)\n"
@ -295,6 +313,7 @@ void Logger::run_trampoline(int argc, char *argv[])
Logger::Logger(size_t buffer_size, unsigned log_interval, bool log_on_start,
bool log_until_shutdown, bool log_name_timestamp) :
_arm_override(false),
_log_on_start(log_on_start),
_log_until_shutdown(log_until_shutdown),
_log_name_timestamp(log_name_timestamp),
@ -422,6 +441,28 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
return updated;
}
void Logger::add_default_topics()
{
add_topic("sensor_gyro", 0);
add_topic("sensor_accel", 0);
add_topic("vehicle_rates_setpoint", 10);
add_topic("vehicle_attitude_setpoint", 10);
add_topic("vehicle_attitude", 0);
add_topic("actuator_outputs", 50);
add_topic("battery_status", 100);
add_topic("vehicle_command", 100);
add_topic("actuator_controls", 10);
add_topic("vehicle_local_position_setpoint", 200);
add_topic("rc_channels", 20);
add_topic("commander_state", 100);
add_topic("vehicle_local_position", 200);
add_topic("vehicle_global_position", 200);
add_topic("system_power", 100);
add_topic("servorail_status", 200);
add_topic("mc_att_ctrl_status", 50);
add_topic("vehicle_status", 200);
}
int Logger::add_topics_from_file(const char *fname)
{
FILE *fp;
@ -457,6 +498,7 @@ int Logger::add_topics_from_file(const char *fname)
// default interval to zero
interval = 0;
int nfields = sscanf(line, "%s, %u", topic_name, &interval);
if (nfields > 0) {
/* add topic with specified interval */
add_topic(topic_name, interval);
@ -494,7 +536,13 @@ void Logger::run()
uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
uORB::Subscription<mavlink_log_s> mavlink_log_sub(ORB_ID(mavlink_log));
add_topics_from_file("/etc/logging/default_topics.txt");
int ntopics = add_topics_from_file("/fs/microsd/etc/logging/logger_topics.txt");
warnx("logging %d topics from logger_topics.txt", ntopics);
if (ntopics < 1) {
warnx("logging default topics");
add_default_topics();
}
//all topics added. Get required message buffer size
int max_msg_size = 0;
@ -559,7 +607,8 @@ void Logger::run()
if (vehicle_status_sub.check_updated()) {
vehicle_status_sub.update();
bool armed = (vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
(vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ||
_arm_override;
if (_was_armed != armed && !_log_until_shutdown) {
_was_armed = armed;

6
src/modules/logger/logger.h
View File

@ -107,6 +107,8 @@ public:
void status();
void set_arm_override(bool override) { _arm_override = override; }
private:
static void run_trampoline(int argc, char *argv[]);
@ -193,6 +195,8 @@ private:
*/
int add_topics_from_file(const char *fname);
void add_default_topics();
static constexpr size_t MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
static constexpr unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
@ -209,6 +213,8 @@ private:
bool _has_log_dir = false;
bool _enabled = false;
bool _was_armed = false;
bool _arm_override;
// statistics
hrt_abstime _start_time; ///< Time when logging started (not the logger thread)