mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 09:04:07 +08:00
sdlog2 performance increased, fixes and cleanup
This commit is contained in:
Anton Babushkin
parent
b614d2f1eb
commit
1bf8f7b47e
@ -33,9 +33,9 @@
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****************************************************************************/
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/**
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* @file sdlog2_ringbuffer.c
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* @file logbuffer.c
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*
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* Ring FIFO buffer for binary data.
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* Ring FIFO buffer for binary log data.
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*
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* @author Anton Babushkin <rk3dov@gmail.com>
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*/
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@ -43,9 +43,9 @@
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#include <string.h>
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#include <stdlib.h>
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#include "sdlog2_ringbuffer.h"
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#include "logbuffer.h"
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void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size)
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void logbuffer_init(struct logbuffer_s *lb, int size)
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{
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lb->size = size;
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lb->write_ptr = 0;
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@ -53,7 +53,7 @@ void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size)
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lb->data = malloc(lb->size);
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}
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int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb)
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int logbuffer_free(struct logbuffer_s *lb)
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{
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int n = lb->read_ptr - lb->write_ptr - 1;
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@ -64,7 +64,7 @@ int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb)
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return n;
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}
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int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb)
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int logbuffer_count(struct logbuffer_s *lb)
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{
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int n = lb->write_ptr - lb->read_ptr;
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@ -75,12 +75,12 @@ int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb)
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return n;
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}
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int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb)
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int logbuffer_is_empty(struct logbuffer_s *lb)
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{
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return lb->read_ptr == lb->write_ptr;
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}
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void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size)
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bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
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{
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// bytes available to write
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int available = lb->read_ptr - lb->write_ptr - 1;
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@ -90,7 +90,7 @@ void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size)
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if (size > available) {
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// buffer overflow
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return;
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return false;
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}
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char *c = (char *) ptr;
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@ -109,9 +109,10 @@ void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size)
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int p = size - n; // number of bytes to write
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memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
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lb->write_ptr = (lb->write_ptr + p) % lb->size;
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return true;
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}
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int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr)
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int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
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{
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// bytes available to read
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int available = lb->write_ptr - lb->read_ptr;
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@ -125,17 +126,19 @@ int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr)
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if (available > 0) {
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// read pointer is before write pointer, write all available bytes
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n = available;
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*is_part = false;
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} else {
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// read pointer is after write pointer, write bytes from read_ptr to end
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n = lb->size - lb->read_ptr;
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*is_part = true;
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}
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*ptr = &(lb->data[lb->read_ptr]);
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return n;
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}
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void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n)
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void logbuffer_mark_read(struct logbuffer_s *lb, int n)
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{
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lb->read_ptr = (lb->read_ptr + n) % lb->size;
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}
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@ -33,9 +33,9 @@
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****************************************************************************/
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/**
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* @file sdlog2_ringbuffer.h
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* @file logbuffer.h
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*
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* Ring FIFO buffer for binary data.
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* Ring FIFO buffer for binary log data.
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*
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* @author Anton Babushkin <rk3dov@gmail.com>
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*/
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@ -43,7 +43,9 @@
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#ifndef SDLOG2_RINGBUFFER_H_
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#define SDLOG2_RINGBUFFER_H_
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struct sdlog2_logbuffer {
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#include <stdbool.h>
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struct logbuffer_s {
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// all pointers are in bytes
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int write_ptr;
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int read_ptr;
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@ -51,18 +53,18 @@ struct sdlog2_logbuffer {
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char *data;
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};
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void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size);
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void logbuffer_init(struct logbuffer_s *lb, int size);
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int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb);
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int logbuffer_free(struct logbuffer_s *lb);
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int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb);
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int logbuffer_count(struct logbuffer_s *lb);
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int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb);
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int logbuffer_is_empty(struct logbuffer_s *lb);
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void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size);
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bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size);
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int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr);
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int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part);
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void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n);
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void logbuffer_mark_read(struct logbuffer_s *lb, int n);
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#endif
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@ -40,4 +40,4 @@ MODULE_COMMAND = sdlog2
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MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
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SRCS = sdlog2.c \
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sdlog2_ringbuffer.c
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logbuffer.c
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@ -60,6 +60,7 @@
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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@ -68,6 +69,7 @@
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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@ -80,40 +82,64 @@
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#include <mavlink/mavlink_log.h>
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#include "sdlog2_ringbuffer.h"
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#include "logbuffer.h"
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#include "sdlog2_format.h"
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#include "sdlog2_messages.h"
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#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
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log_msgs_written++; \
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} else { \
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log_msgs_skipped++; \
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/*printf("skip\n");*/ \
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}
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//#define SDLOG2_DEBUG
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
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static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
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static const int LOG_BUFFER_SIZE = 2048;
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static const int MAX_WRITE_CHUNK = 1024;
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static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
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static const int LOG_BUFFER_SIZE = 8192;
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static const int MAX_WRITE_CHUNK = 512;
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static const int MIN_BYTES_TO_WRITE = 512;
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static const char *mountpoint = "/fs/microsd";
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int log_file = -1;
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int mavlink_fd = -1;
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struct sdlog2_logbuffer lb;
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struct logbuffer_s lb;
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/* mutex / condition to synchronize threads */
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pthread_mutex_t logbuffer_mutex;
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pthread_cond_t logbuffer_cond;
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/**
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* System state vector log buffer writing
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*/
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static void *sdlog2_logbuffer_write_thread(void *arg);
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char folder_path[64];
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/* statistics counters */
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unsigned long log_bytes_written = 0;
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uint64_t start_time = 0;
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unsigned long log_msgs_written = 0;
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unsigned long log_msgs_skipped = 0;
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/* current state of logging */
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bool logging_enabled = false;
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/* enable logging on start (-e option) */
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bool log_on_start = false;
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/* enable logging when armed (-a option) */
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bool log_when_armed = false;
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/* delay = 1 / rate (rate defined by -r option) */
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useconds_t poll_delay = 0;
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/* helper flag to track system state changes */
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bool flag_system_armed = false;
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pthread_t logwriter_pthread = 0;
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/**
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* Create the thread to write the system vector
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* Log buffer writing thread. Open and close file here.
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*/
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pthread_t sdlog2_logwriter_start(struct sdlog2_logbuffer *logbuf);
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/**
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* Write a header to log file: list of message formats
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*/
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void sdlog2_write_formats(int fd);
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static void *logwriter_thread(void *arg);
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/**
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* SD log management function.
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@ -128,26 +154,49 @@ int sdlog2_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void sdlog2_usage(const char *reason);
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static int file_exist(const char *filename);
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/**
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* Print the current status.
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*/
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static void sdlog2_status(void);
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/**
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* Start logging: create new file and start log writer thread.
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*/
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void sdlog2_start_log();
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/**
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* Stop logging: stop log writer thread and close log file.
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*/
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void sdlog2_stop_log();
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/**
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* Write a header to log file: list of message formats.
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*/
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void write_formats(int fd);
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static bool file_exist(const char *filename);
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static int file_copy(const char *file_old, const char *file_new);
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static void handle_command(struct vehicle_command_s *cmd);
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/**
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* Print the current status.
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*/
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static void print_sdlog2_status(void);
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static void handle_status(struct vehicle_status_s *cmd);
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/**
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* Create folder for current logging session.
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* Create folder for current logging session. Store folder name in 'log_folder'.
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*/
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static int create_logfolder(char *folder_path);
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static int create_logfolder();
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/**
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* Select first free log file name and open it.
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*/
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static int open_logfile();
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static void
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usage(const char *reason)
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sdlog2_usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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@ -158,16 +207,8 @@ usage(const char *reason)
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"\t-a\tLog only when armed (can be still overriden by command)\n\n");
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}
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unsigned long log_bytes_written = 0;
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uint64_t start_time = 0;
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/* logging on or off, default to true */
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bool logging_enabled = false;
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bool log_when_armed = false;
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useconds_t poll_delay = 0;
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/**
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* The sd log deamon app only briefly exists to start
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* The logger deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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@ -177,7 +218,7 @@ useconds_t poll_delay = 0;
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int sdlog2_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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sdlog2_usage("missing command");
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if (!strcmp(argv[1], "start")) {
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@ -191,7 +232,7 @@ int sdlog2_main(int argc, char *argv[])
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deamon_task = task_spawn("sdlog2",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT - 30,
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4096,
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2048,
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sdlog2_thread_main,
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(const char **)argv);
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exit(0);
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@ -208,7 +249,7 @@ int sdlog2_main(int argc, char *argv[])
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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print_sdlog2_status();
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sdlog2_status();
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} else {
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printf("\tsdlog2 not started\n");
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@ -217,20 +258,20 @@ int sdlog2_main(int argc, char *argv[])
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exit(0);
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}
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usage("unrecognized command");
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sdlog2_usage("unrecognized command");
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exit(1);
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}
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int create_logfolder(char *folder_path)
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int create_logfolder()
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{
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/* make folder on sdcard */
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uint16_t foldernumber = 1; // start with folder 0001
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uint16_t folder_number = 1; // start with folder sess001
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int mkdir_ret;
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/* look for the next folder that does not exist */
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while (foldernumber < MAX_NO_LOGFOLDER) {
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/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
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sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
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while (folder_number <= MAX_NO_LOGFOLDER) {
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/* set up folder path: e.g. /fs/microsd/sess001 */
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sprintf(folder_path, "%s/sess%03u", mountpoint, folder_number);
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mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
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/* the result is -1 if the folder exists */
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@ -256,7 +297,7 @@ int create_logfolder(char *folder_path)
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} else if (mkdir_ret == -1) {
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/* folder exists already */
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foldernumber++;
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folder_number++;
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continue;
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} else {
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@ -265,63 +306,126 @@ int create_logfolder(char *folder_path)
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}
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}
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if (foldernumber >= MAX_NO_LOGFOLDER) {
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if (folder_number >= MAX_NO_LOGFOLDER) {
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/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
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warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
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warnx("all %d possible folders exist already.\n", MAX_NO_LOGFOLDER);
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return -1;
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}
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return 0;
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}
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static void *
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sdlog2_logbuffer_write_thread(void *arg)
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int open_logfile()
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{
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/* make folder on sdcard */
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uint16_t file_number = 1; // start with file log001
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/* string to hold the path to the log */
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char path_buf[64] = "";
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int fd = 0;
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/* look for the next file that does not exist */
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while (file_number <= MAX_NO_LOGFILE) {
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/* set up file path: e.g. /fs/microsd/sess001/log001.bin */
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sprintf(path_buf, "%s/log%03u.bin", folder_path, file_number);
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if (file_exist(path_buf)) {
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file_number++;
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continue;
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}
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fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
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if (fd == 0) {
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errx(1, "opening %s failed.\n", path_buf);
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}
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warnx("logging to: %s\n", path_buf);
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return fd;
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}
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if (file_number > MAX_NO_LOGFILE) {
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/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
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warn("all %d possible files exist already\n", MAX_NO_LOGFILE);
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return -1;
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}
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return 0;
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}
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static void *logwriter_thread(void *arg)
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{
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/* set name */
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prctl(PR_SET_NAME, "sdlog2 microSD I/O", 0);
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prctl(PR_SET_NAME, "sdlog2_writer", 0);
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struct sdlog2_logbuffer *logbuf = (struct sdlog2_logbuffer *)arg;
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struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
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int log_file = open_logfile();
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/* write log messages formats */
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write_formats(log_file);
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int poll_count = 0;
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void *read_ptr;
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int n = 0;
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bool should_wait = false;
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bool is_part = false;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
while (!thread_should_exit && !logwriter_should_exit) {
|
||||
|
||||
/* make sure threads are synchronized */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
|
||||
/* update read pointer if needed */
|
||||
if (n > 0) {
|
||||
sdlog2_logbuffer_mark_read(&lb, n);
|
||||
logbuffer_mark_read(&lb, n);
|
||||
}
|
||||
|
||||
/* only wait if no data is available to process */
|
||||
if (sdlog2_logbuffer_is_empty(logbuf)) {
|
||||
if (should_wait) {
|
||||
/* blocking wait for new data at this line */
|
||||
pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
|
||||
}
|
||||
|
||||
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
|
||||
n = sdlog2_logbuffer_get_ptr(logbuf, &read_ptr);
|
||||
int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
|
||||
|
||||
/* continue */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
if (n > 0) {
|
||||
if (available > 0) {
|
||||
/* do heavy IO here */
|
||||
if (n > MAX_WRITE_CHUNK)
|
||||
if (available > MAX_WRITE_CHUNK) {
|
||||
n = MAX_WRITE_CHUNK;
|
||||
|
||||
} else {
|
||||
n = available;
|
||||
}
|
||||
|
||||
n = write(log_file, read_ptr, n);
|
||||
|
||||
should_wait = (n == available) && !is_part;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("%i wrote: %i of %i, is_part=%i, should_wait=%i\n", poll_count, n, available, (int)is_part, (int)should_wait);
|
||||
#endif
|
||||
|
||||
if (n < 0) {
|
||||
thread_should_exit = true;
|
||||
err(1, "error writing log file");
|
||||
}
|
||||
|
||||
if (n > 0) {
|
||||
log_bytes_written += n;
|
||||
}
|
||||
|
||||
} else {
|
||||
should_wait = true;
|
||||
}
|
||||
|
||||
if (poll_count % 100 == 0) {
|
||||
if (poll_count % 10 == 0) {
|
||||
fsync(log_file);
|
||||
}
|
||||
|
||||
@ -329,12 +433,22 @@ sdlog2_logbuffer_write_thread(void *arg)
|
||||
}
|
||||
|
||||
fsync(log_file);
|
||||
close(log_file);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
pthread_t sdlog2_logwriter_start(struct sdlog2_logbuffer *logbuf)
|
||||
void sdlog2_start_log()
|
||||
{
|
||||
warnx("start logging.\n");
|
||||
|
||||
/* initialize statistics counter */
|
||||
log_bytes_written = 0;
|
||||
start_time = hrt_absolute_time();
|
||||
log_msgs_written = 0;
|
||||
log_msgs_skipped = 0;
|
||||
|
||||
/* initialize log buffer emptying thread */
|
||||
pthread_attr_t receiveloop_attr;
|
||||
pthread_attr_init(&receiveloop_attr);
|
||||
|
||||
@ -345,14 +459,39 @@ pthread_t sdlog2_logwriter_start(struct sdlog2_logbuffer *logbuf)
|
||||
|
||||
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
||||
|
||||
logwriter_should_exit = false;
|
||||
pthread_t thread;
|
||||
pthread_create(&thread, &receiveloop_attr, sdlog2_logbuffer_write_thread, logbuf);
|
||||
return thread;
|
||||
|
||||
/* start log buffer emptying thread */
|
||||
if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) {
|
||||
errx(1, "error creating logwriter thread\n");
|
||||
}
|
||||
|
||||
logging_enabled = true;
|
||||
// XXX we have to destroy the attr at some point
|
||||
}
|
||||
|
||||
void sdlog2_write_formats(int fd)
|
||||
void sdlog2_stop_log()
|
||||
{
|
||||
warnx("stop logging.\n");
|
||||
|
||||
logging_enabled = true;
|
||||
logwriter_should_exit = true;
|
||||
|
||||
/* wake up write thread one last time */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
/* unlock, now the writer thread may return */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
/* wait for write thread to return */
|
||||
(void)pthread_join(logwriter_pthread, NULL);
|
||||
|
||||
sdlog2_status();
|
||||
}
|
||||
|
||||
|
||||
void write_formats(int fd)
|
||||
{
|
||||
/* construct message format packet */
|
||||
struct {
|
||||
@ -378,7 +517,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
if (mavlink_fd < 0) {
|
||||
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
|
||||
warnx("failed to open MAVLink log stream, start mavlink app first.\n");
|
||||
}
|
||||
|
||||
/* log every n'th value (skip three per default) */
|
||||
@ -404,7 +543,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
break;
|
||||
|
||||
case 'e':
|
||||
logging_enabled = true;
|
||||
log_on_start = true;
|
||||
break;
|
||||
|
||||
case 'a':
|
||||
@ -423,39 +562,48 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
default:
|
||||
usage("unrecognized flag");
|
||||
errx(1, "exiting.");
|
||||
sdlog2_usage("unrecognized flag");
|
||||
errx(1, "exiting\n");
|
||||
}
|
||||
}
|
||||
|
||||
if (file_exist(mountpoint) != OK) {
|
||||
errx(1, "logging mount point %s not present, exiting.", mountpoint);
|
||||
if (!file_exist(mountpoint)) {
|
||||
errx(1, "logging mount point %s not present, exiting.\n", mountpoint);
|
||||
}
|
||||
|
||||
char folder_path[64];
|
||||
|
||||
if (create_logfolder(folder_path))
|
||||
errx(1, "unable to create logging folder, exiting.");
|
||||
|
||||
/* string to hold the path to the sensorfile */
|
||||
char path_buf[64] = "";
|
||||
if (create_logfolder())
|
||||
errx(1, "unable to create logging folder, exiting.\n");
|
||||
|
||||
/* only print logging path, important to find log file later */
|
||||
warnx("logging to directory %s\n", folder_path);
|
||||
warnx("logging to directory %s.\n", folder_path);
|
||||
|
||||
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
|
||||
sprintf(path_buf, "%s/%s.bin", folder_path, "log");
|
||||
/* logging control buffers and subscriptions */
|
||||
struct {
|
||||
struct vehicle_command_s cmd;
|
||||
struct vehicle_status_s status;
|
||||
} buf_control;
|
||||
memset(&buf_control, 0, sizeof(buf_control));
|
||||
|
||||
if (0 == (log_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
|
||||
errx(1, "opening %s failed.\n", path_buf);
|
||||
}
|
||||
struct {
|
||||
int cmd_sub;
|
||||
int status_sub;
|
||||
} subs_control;
|
||||
|
||||
/* write log messages formats */
|
||||
sdlog2_write_formats(log_file);
|
||||
/* file descriptors to wait for */
|
||||
struct pollfd fds_control[2];
|
||||
/* --- VEHICLE COMMAND --- */
|
||||
subs_control.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
|
||||
fds_control[0].fd = subs_control.cmd_sub;
|
||||
fds_control[0].events = POLLIN;
|
||||
|
||||
/* --- VEHICLE STATUS --- */
|
||||
subs_control.status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
fds_control[1].fd = subs_control.status_sub;
|
||||
fds_control[1].events = POLLIN;
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
/* number of messages */
|
||||
const ssize_t fdsc = 13;
|
||||
const ssize_t fdsc = 12;
|
||||
/* Sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
|
||||
/* file descriptors to wait for */
|
||||
@ -469,8 +617,8 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct actuator_outputs_s act_outputs;
|
||||
struct actuator_controls_s act_controls;
|
||||
struct actuator_controls_effective_s act_controls_effective;
|
||||
struct vehicle_command_s cmd;
|
||||
struct vehicle_local_position_s local_pos;
|
||||
struct vehicle_local_position_setpoint_s local_pos_sp;
|
||||
struct vehicle_global_position_s global_pos;
|
||||
struct vehicle_gps_position_s gps_pos;
|
||||
struct vehicle_vicon_position_s vicon_pos;
|
||||
@ -482,7 +630,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
memset(&buf, 0, sizeof(buf));
|
||||
|
||||
struct {
|
||||
int cmd_sub;
|
||||
int sensor_sub;
|
||||
int att_sub;
|
||||
int att_sp_sub;
|
||||
@ -490,6 +637,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
int act_controls_sub;
|
||||
int act_controls_effective_sub;
|
||||
int local_pos_sub;
|
||||
int local_pos_sp_sub;
|
||||
int global_pos_sub;
|
||||
int gps_pos_sub;
|
||||
int vicon_pos_sub;
|
||||
@ -519,33 +667,25 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
#pragma pack(pop)
|
||||
memset(&log_msg.body, 0, sizeof(log_msg.body));
|
||||
|
||||
/* --- MANAGEMENT - LOGGING COMMAND --- */
|
||||
/* subscribe to ORB for vehicle command */
|
||||
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
|
||||
fds[fdsc_count].fd = subs.cmd_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- GPS POSITION --- */
|
||||
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
fds[fdsc_count].fd = subs.gps_pos_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- SENSORS RAW VALUE --- */
|
||||
/* --- SENSORS COMBINED --- */
|
||||
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
fds[fdsc_count].fd = subs.sensor_sub;
|
||||
/* do not rate limit, instead use skip counter (aliasing on rate limit) */
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ATTITUDE VALUE --- */
|
||||
/* --- ATTITUDE --- */
|
||||
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
fds[fdsc_count].fd = subs.att_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ATTITUDE SETPOINT VALUE --- */
|
||||
/* --- ATTITUDE SETPOINT --- */
|
||||
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
fds[fdsc_count].fd = subs.att_sp_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
@ -557,13 +697,13 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ACTUATOR CONTROL VALUE --- */
|
||||
/* --- ACTUATOR CONTROL --- */
|
||||
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
|
||||
fds[fdsc_count].fd = subs.act_controls_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
|
||||
/* --- ACTUATOR CONTROL EFFECTIVE --- */
|
||||
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
|
||||
fds[fdsc_count].fd = subs.act_controls_effective_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
@ -575,6 +715,12 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- LOCAL POSITION SETPOINT --- */
|
||||
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
|
||||
fds[fdsc_count].fd = subs.local_pos_sp_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- GLOBAL POSITION --- */
|
||||
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
fds[fdsc_count].fd = subs.global_pos_sub;
|
||||
@ -587,7 +733,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- FLOW measurements --- */
|
||||
/* --- OPTICAL FLOW --- */
|
||||
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
|
||||
fds[fdsc_count].fd = subs.flow_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
@ -610,26 +756,19 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
|
||||
/*
|
||||
* set up poll to block for new data,
|
||||
* wait for a maximum of 1000 ms (1 second)
|
||||
* wait for a maximum of 1000 ms
|
||||
*/
|
||||
const int poll_timeout = 1000;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
/* initialize log buffer with specified size */
|
||||
sdlog2_logbuffer_init(&lb, LOG_BUFFER_SIZE);
|
||||
logbuffer_init(&lb, LOG_BUFFER_SIZE);
|
||||
|
||||
/* initialize thread synchronization */
|
||||
pthread_mutex_init(&logbuffer_mutex, NULL);
|
||||
pthread_cond_init(&logbuffer_cond, NULL);
|
||||
|
||||
/* start logbuffer emptying thread */
|
||||
pthread_t logwriter_pthread = sdlog2_logwriter_start(&lb);
|
||||
|
||||
/* initialize statistics counter */
|
||||
log_bytes_written = 0;
|
||||
start_time = hrt_absolute_time();
|
||||
|
||||
/* track changes in sensor_combined topic */
|
||||
uint16_t gyro_counter = 0;
|
||||
uint16_t accelerometer_counter = 0;
|
||||
@ -637,19 +776,44 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
uint16_t baro_counter = 0;
|
||||
uint16_t differential_pressure_counter = 0;
|
||||
|
||||
/* enable logging on start if needed */
|
||||
if (log_on_start)
|
||||
sdlog2_start_log();
|
||||
|
||||
while (!thread_should_exit) {
|
||||
if (!logging_enabled) {
|
||||
usleep(100000);
|
||||
/* poll control topics */
|
||||
int poll_control_ret = poll(fds_control, sizeof(fds_control) / sizeof(fds_control[0]), logging_enabled ? 0 : 500);
|
||||
|
||||
/* handle the poll result */
|
||||
if (poll_control_ret < 0) {
|
||||
warnx("ERROR: poll control topics error, stop logging.\n");
|
||||
thread_should_exit = true;
|
||||
continue;
|
||||
|
||||
} else if (poll_control_ret > 0) {
|
||||
/* --- VEHICLE COMMAND --- */
|
||||
if (fds[0].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_command), subs_control.cmd_sub, &buf_control.cmd);
|
||||
handle_command(&buf_control.cmd);
|
||||
}
|
||||
|
||||
/* --- VEHICLE STATUS --- */
|
||||
if (fds[1].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_status), subs_control.status_sub, &buf_control.status);
|
||||
handle_status(&buf_control.status);
|
||||
}
|
||||
}
|
||||
|
||||
/* poll all topics */
|
||||
if (!logging_enabled)
|
||||
continue;
|
||||
|
||||
/* poll data topics */
|
||||
int poll_ret = poll(fds, fdsc, poll_delay == 0 ? poll_timeout : 0);
|
||||
|
||||
/* handle the poll result */
|
||||
if (poll_ret < 0) {
|
||||
printf("ERROR: Poll error, stop logging\n");
|
||||
thread_should_exit = false;
|
||||
warnx("ERROR: poll error, stop logging.\n");
|
||||
thread_should_exit = true;
|
||||
|
||||
} else if (poll_ret > 0) {
|
||||
|
||||
@ -660,14 +824,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
/* write time stamp message */
|
||||
log_msg.msg_type = LOG_TIME_MSG;
|
||||
log_msg.body.log_TIME.t = hrt_absolute_time();
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(TIME));
|
||||
|
||||
/* --- VEHICLE COMMAND --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
/* copy command into local buffer */
|
||||
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
|
||||
handle_command(&buf.cmd);
|
||||
}
|
||||
LOGBUFFER_WRITE_AND_COUNT(TIME);
|
||||
|
||||
/* --- GPS POSITION --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
@ -684,7 +841,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
|
||||
log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
|
||||
log_msg.body.log_GPS.vel_valid = (uint8_t) buf.gps_pos.vel_ned_valid;
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(GPS));
|
||||
LOGBUFFER_WRITE_AND_COUNT(GPS);
|
||||
}
|
||||
|
||||
/* --- SENSOR COMBINED --- */
|
||||
@ -729,7 +886,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
|
||||
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
|
||||
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(IMU));
|
||||
LOGBUFFER_WRITE_AND_COUNT(IMU);
|
||||
}
|
||||
|
||||
if (write_SENS) {
|
||||
@ -738,7 +895,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
|
||||
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
|
||||
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(SENS));
|
||||
LOGBUFFER_WRITE_AND_COUNT(SENS);
|
||||
}
|
||||
}
|
||||
|
||||
@ -749,7 +906,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_ATT.roll = buf.att.roll;
|
||||
log_msg.body.log_ATT.pitch = buf.att.pitch;
|
||||
log_msg.body.log_ATT.yaw = buf.att.yaw;
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(ATT));
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATT);
|
||||
}
|
||||
|
||||
/* --- ATTITUDE SETPOINT --- */
|
||||
@ -759,7 +916,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
|
||||
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
|
||||
log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(ATSP));
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATSP);
|
||||
}
|
||||
|
||||
/* --- ACTUATOR OUTPUTS --- */
|
||||
@ -794,7 +951,18 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_LPOS.home_lat = buf.local_pos.home_lat;
|
||||
log_msg.body.log_LPOS.home_lon = buf.local_pos.home_lon;
|
||||
log_msg.body.log_LPOS.home_alt = buf.local_pos.home_alt;
|
||||
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(LPOS));
|
||||
LOGBUFFER_WRITE_AND_COUNT(LPOS);
|
||||
}
|
||||
|
||||
/* --- LOCAL POSITION SETPOINT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp);
|
||||
log_msg.msg_type = LOG_LPSP_MSG;
|
||||
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
|
||||
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
|
||||
log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
|
||||
log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
|
||||
LOGBUFFER_WRITE_AND_COUNT(LPSP);
|
||||
}
|
||||
|
||||
/* --- GLOBAL POSITION --- */
|
||||
@ -822,7 +990,10 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
if (sdlog2_logbuffer_count(&lb) > (lb.size / 2)) {
|
||||
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("signal %i\n", logbuffer_count(&lb));
|
||||
#endif
|
||||
/* only request write if several packets can be written at once */
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
}
|
||||
@ -836,42 +1007,34 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
print_sdlog2_status();
|
||||
|
||||
/* wake up write thread one last time */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
/* unlock, now the writer thread may return */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
/* wait for write thread to return */
|
||||
(void)pthread_join(logwriter_pthread, NULL);
|
||||
if (logging_enabled)
|
||||
sdlog2_stop_log();
|
||||
|
||||
pthread_mutex_destroy(&logbuffer_mutex);
|
||||
pthread_cond_destroy(&logbuffer_cond);
|
||||
|
||||
warnx("exiting.\n\n");
|
||||
warnx("exiting.\n");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void print_sdlog2_status()
|
||||
void sdlog2_status()
|
||||
{
|
||||
float mebibytes = log_bytes_written / 1024.0f / 1024.0f;
|
||||
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
|
||||
|
||||
warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
|
||||
warnx("wrote %lu msgs, %4.2f MiB (average %5.3f MiB/s), skipped %lu msgs.\n", log_msgs_written, (double)mebibytes, (double)(mebibytes / seconds), log_msgs_skipped);
|
||||
}
|
||||
|
||||
/**
|
||||
* @return 0 if file exists
|
||||
*/
|
||||
int file_exist(const char *filename)
|
||||
bool file_exist(const char *filename)
|
||||
{
|
||||
struct stat buffer;
|
||||
return stat(filename, &buffer);
|
||||
return stat(filename, &buffer) == 0;
|
||||
}
|
||||
|
||||
int file_copy(const char *file_old, const char *file_new)
|
||||
@ -881,7 +1044,7 @@ int file_copy(const char *file_old, const char *file_new)
|
||||
int ret = 0;
|
||||
|
||||
if (source == NULL) {
|
||||
warnx("failed opening input file to copy");
|
||||
warnx("failed opening input file to copy.\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -889,7 +1052,7 @@ int file_copy(const char *file_old, const char *file_new)
|
||||
|
||||
if (target == NULL) {
|
||||
fclose(source);
|
||||
warnx("failed to open output file to copy");
|
||||
warnx("failed to open output file to copy.\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -900,7 +1063,7 @@ int file_copy(const char *file_old, const char *file_new)
|
||||
ret = fwrite(buf, 1, nread, target);
|
||||
|
||||
if (ret <= 0) {
|
||||
warnx("error writing file");
|
||||
warnx("error writing file.\n");
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
@ -918,25 +1081,19 @@ void handle_command(struct vehicle_command_s *cmd)
|
||||
{
|
||||
/* result of the command */
|
||||
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
|
||||
int param;
|
||||
|
||||
/* request to set different system mode */
|
||||
switch (cmd->command) {
|
||||
|
||||
case VEHICLE_CMD_PREFLIGHT_STORAGE:
|
||||
param = (int)(cmd->param3);
|
||||
|
||||
if (((int)(cmd->param3)) == 1) {
|
||||
if (param == 1) {
|
||||
sdlog2_start_log();
|
||||
|
||||
/* enable logging */
|
||||
mavlink_log_info(mavlink_fd, "[log] file:");
|
||||
mavlink_log_info(mavlink_fd, "logdir");
|
||||
logging_enabled = true;
|
||||
}
|
||||
|
||||
if (((int)(cmd->param3)) == 0) {
|
||||
|
||||
/* disable logging */
|
||||
mavlink_log_info(mavlink_fd, "[log] stopped.");
|
||||
logging_enabled = false;
|
||||
} else if (param == 0) {
|
||||
sdlog2_stop_log();
|
||||
}
|
||||
|
||||
break;
|
||||
@ -945,5 +1102,18 @@ void handle_command(struct vehicle_command_s *cmd)
|
||||
/* silently ignore */
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void handle_status(struct vehicle_status_s *status)
|
||||
{
|
||||
if (log_when_armed && (status->flag_system_armed != flag_system_armed)) {
|
||||
flag_system_armed = status->flag_system_armed;
|
||||
|
||||
if (flag_system_armed) {
|
||||
sdlog2_start_log();
|
||||
|
||||
} else {
|
||||
sdlog2_stop_log();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user