From 1ebf5d04d9e1bae142ac3c502e3832e88b793f85 Mon Sep 17 00:00:00 2001
From: Bharat Tak <bharat.tak8@gmail.com>
Date: Tue, 11 Jun 2019 11:00:55 +0200
Subject: [PATCH] logger: add Ulog sync bytes at 1Hz and tagged log message
 definition (#12144)

---
 src/modules/logger/logger.cpp | 22 ++++++++++++++++++++++
 src/modules/logger/logger.h   |  1 +
 src/modules/logger/messages.h | 11 +++++++++++
 3 files changed, 34 insertions(+)

diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 23e13a4b53..e3b57f79a6 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -80,6 +80,7 @@
 #endif /* defined(DBGPRINT) */
 
 using namespace px4::logger;
+using namespace time_literals;
 
 
 struct timer_callback_data_s {
@@ -1160,6 +1161,27 @@ void Logger::run()
 				}
 			}
 
+			// Add sync magic
+			if (loop_time - _last_sync_time > 500_ms) {
+				uint16_t write_msg_size = static_cast<uint16_t>(sizeof(ulog_message_sync_s) - ULOG_MSG_HEADER_LEN);
+				_msg_buffer[0] = (uint8_t)write_msg_size;
+				_msg_buffer[1] = (uint8_t)(write_msg_size >> 8);
+				_msg_buffer[2] = static_cast<uint8_t>(ULogMessageType::SYNC);
+
+				// sync byte sequence
+				_msg_buffer[3] = 0x2F;
+				_msg_buffer[4] = 0x73;
+				_msg_buffer[5] = 0x13;
+				_msg_buffer[6] = 0x20;
+				_msg_buffer[7] = 0x25;
+				_msg_buffer[8] = 0x0C;
+				_msg_buffer[9] = 0xBB;
+				_msg_buffer[10] = 0x12;
+
+				write_message(LogType::Full, _msg_buffer, write_msg_size + ULOG_MSG_HEADER_LEN);
+				_last_sync_time = loop_time;
+			}
+
 			// update buffer statistics
 			for (int i = 0; i < (int)LogType::Count; ++i) {
 				if (!_statistics[i].dropout_start && _writer.get_buffer_fill_count_file((LogType)i) > _statistics[i].high_water) {
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index 56bcfd63a6..e76146bc1d 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -387,6 +387,7 @@ private:
 	bool						_manually_logging_override{false};
 
 	Statistics					_statistics[(int)LogType::Count];
+	hrt_abstime					_last_sync_time{0}; ///< last time a sync msg was sent
 
 	LogMode						_log_mode;
 	const bool					_log_name_timestamp;
diff --git a/src/modules/logger/messages.h b/src/modules/logger/messages.h
index 4274f73f93..4b877893b3 100644
--- a/src/modules/logger/messages.h
+++ b/src/modules/logger/messages.h
@@ -44,6 +44,7 @@ enum class ULogMessageType : uint8_t {
 	SYNC = 'S',
 	DROPOUT = 'O',
 	LOGGING = 'L',
+	LOGGING_TAGGED = 'C',
 	FLAG_BITS = 'B',
 };
 
@@ -133,6 +134,16 @@ struct ulog_message_logging_s {
 	char message[128]; //defines the maximum length of a logged message string
 };
 
+struct ulog_message_logging_tagged_s {
+	uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
+	uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING_TAGGED);
+
+	uint8_t log_level; //same levels as in the linux kernel
+	uint16_t tag;
+	uint64_t timestamp;
+	char message[128]; //defines the maximum length of a logged message string
+};
+
 struct ulog_message_parameter_header_s {
 	uint16_t msg_size;
 	uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);