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logger: clean up emission of events

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This commit is contained in:
Jacob Dahl 2025-04-16 01:06:21 -08:00
parent ff7c636065
commit 39b894a014
6 changed files with 69 additions and 101 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rc.replay
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@ -26,5 +26,5 @@ param set SDLOG_PROFILE 3
# apply all params before ekf starts, as some params cannot be changed after startup
replay tryapplyparams
ekf2 start -r
logger start -f -t -b 1000 -p vehicle_attitude
logger start -f -b 1000 -p vehicle_attitude
replay start

2
ROMFS/px4fmu_common/init.d/rc.logging
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@ -31,5 +31,5 @@ fi
if ! param compare SDLOG_MODE -1
then
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
logger start -b ${LOGGER_BUF} ${LOGGER_ARGS}
fi

110
src/modules/logger/logger.cpp
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@ -256,7 +256,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
int log_buffer_size = 12 * 1024;
Logger::LogMode log_mode = Logger::LogMode::while_armed;
bool error_flag = false;
bool log_name_timestamp = false;
LogWriter::Backend backend = LogWriter::BackendAll;
const char *poll_topic = nullptr;
@ -313,11 +312,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
}
break;
case 't':
log_name_timestamp = true;
break;
case 'm':
if (!strcmp(myoptarg, "file")) {
backend = LogWriter::BackendFile;
@ -354,7 +348,7 @@ Logger *Logger::instantiate(int argc, char *argv[])
return nullptr;
}
Logger *logger = new Logger(backend, log_buffer_size, log_interval, poll_topic, log_mode, log_name_timestamp,
Logger *logger = new Logger(backend, log_buffer_size, log_interval, poll_topic, log_mode,
rate_factor);
#if defined(DBGPRINT) && defined(__PX4_NUTTX)
@ -383,10 +377,9 @@ Logger *Logger::instantiate(int argc, char *argv[])
}
Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
LogMode log_mode, bool log_name_timestamp, float rate_factor) :
LogMode log_mode, float rate_factor) :
ModuleParams(nullptr),
_log_mode(log_mode),
_log_name_timestamp(log_name_timestamp),
_event_subscription(ORB_ID::event),
_writer(backend, buffer_size),
_log_interval(log_interval),
@ -1241,6 +1234,9 @@ int Logger::create_log_dir(LogType type, tm *tt, char *log_dir, int log_dir_len)
if (tt) {
strftime(file_name.log_dir, sizeof(LogFileName::log_dir), "%Y-%m-%d", tt);
strncpy(log_dir + n, file_name.log_dir, log_dir_len - n);
PX4_INFO("creating log dir: %s", log_dir);
int mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret != OK && errno != EEXIST) {
@ -1287,15 +1283,17 @@ int Logger::create_log_dir(LogType type, tm *tt, char *log_dir, int log_dir_len)
return strlen(log_dir);
}
int Logger::get_log_file_name(LogType type, char *file_name, size_t file_name_size, bool notify)
int Logger::get_log_file_name(LogType type, char *file_name, size_t file_name_size)
{
tm tt = {};
bool time_ok = false;
// We use RTC time for log file naming, e.g. /fs/microsd/log/2014-01-19/19_37_52.ulg
if (_log_name_timestamp) {
/* use RTC time for log file naming, e.g. /fs/microsd/log/2014-01-19/19_37_52.ulg */
time_ok = util::get_log_time(&tt, _param_sdlog_utc_offset.get() * 60, false);
}
time_t timestamp_utc = {};
struct timespec ts = {};
px4_clock_gettime(CLOCK_REALTIME, &ts);
timestamp_utc = ts.tv_sec + (ts.tv_nsec / 1e9);
tm tt = {};
gmtime_r(&timestamp_utc, &tt);
const char *replay_suffix = "";
@ -1314,35 +1312,27 @@ int Logger::get_log_file_name(LogType type, char *file_name, size_t file_name_si
char *log_file_name = _file_name[(int)type].log_file_name;
if (time_ok) {
// Check if time is non-zero for valid UTC timestamp
if (timestamp_utc > 0) {
// TODO: move create_log_dir outside of this...
int n = create_log_dir(type, &tt, file_name, file_name_size);
if (n < 0) {
return -1;
}
// Create log file name from timestamp
char log_file_name_time[16] = "";
strftime(log_file_name_time, sizeof(log_file_name_time), "%H_%M_%S", &tt);
snprintf(log_file_name, sizeof(LogFileName::log_file_name), "%s%s.ulg%s", log_file_name_time, replay_suffix,
crypto_suffix);
snprintf(log_file_name, sizeof(LogFileName::log_file_name), "%s%s.ulg%s", log_file_name_time, replay_suffix, crypto_suffix);
PX4_INFO("log_file_name: %s", log_file_name);
// Now we copy it into some other buffer... why?
snprintf(file_name + n, file_name_size - n, "/%s", log_file_name);
if (notify) {
mavlink_log_info(&_mavlink_log_pub, "[logger] %s\t", file_name);
uint16_t year = 0;
uint8_t month = 0;
uint8_t day = 0;
sscanf(_file_name[(int)type].log_dir, "%hd-%hhd-%hhd", &year, &month, &day);
uint8_t hour = 0;
uint8_t minute = 0;
uint8_t second = 0;
sscanf(log_file_name_time, "%hhd_%hhd_%hhd", &hour, &minute, &second);
events::send<uint16_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t>(events::ID("logger_open_file_time"),
events::Log::Info,
"logging: opening log file {1}-{2}-{3}/{4}_{5}_{6}.ulg", year, month, day, hour, minute, second);
}
} else {
// TODO: move create_log_dir outside of this...
int n = create_log_dir(type, nullptr, file_name, file_name_size);
if (n < 0) {
@ -1369,16 +1359,6 @@ int Logger::get_log_file_name(LogType type, char *file_name, size_t file_name_si
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
return -1;
}
if (notify) {
mavlink_log_info(&_mavlink_log_pub, "[logger] %s\t", file_name);
uint16_t sess = 0;
sscanf(_file_name[(int)type].log_dir, "sess%hd", &sess);
uint16_t index = 0;
sscanf(log_file_name, "log%hd", &index);
events::send<uint16_t, uint16_t>(events::ID("logger_open_file_sess"), events::Log::Info,
"logging: opening log file sess{1}/log{2}.ulg", sess, index);
}
}
return 0;
@ -1409,11 +1389,13 @@ void Logger::start_log_file(LogType type)
char file_name[LOG_DIR_LEN] = "";
if (get_log_file_name(type, file_name, sizeof(file_name), type == LogType::Full)) {
if (get_log_file_name(type, file_name, sizeof(file_name)) != PX4_OK) {
PX4_ERR("failed to get log file name");
return;
}
// TODO: create log dir after getting filename
#if defined(PX4_CRYPTO)
_writer.set_encryption_parameters(
(px4_crypto_algorithm_t)_param_sdlog_crypto_algorithm.get(),
@ -1421,6 +1403,44 @@ void Logger::start_log_file(LogType type)
_param_sdlog_crypto_exchange_key.get());
#endif
// Emit event when we're recording a full log type (TODO: rename "full" to "normal"?)
// TODO: do we really need separate events? If the intent is to convey the full log string
// it isn't quite right since the zeroes get dropped, see below:
// PX4: 2025-04-05/14_27_49.ulg
// MAVSDK : 2025-4-5/14_27_49.ulg
if (type == LogType::Full) {
// Check if we're using time-based format by checking for hyphen
if (strstr(_file_name[(int)type].log_dir, "-")) {
// TODO: this way of populating the file_name is weird, especially since we already have it above
uint16_t year = 0;
uint8_t month = 0, day = 0;
sscanf(_file_name[(int)type].log_dir, "%hd-%hhd-%hhd", &year, &month, &day);
uint8_t hour = 0, minute = 0, second = 0;
sscanf(_file_name[(int)type].log_file_name, "%hhd_%hhd_%hhd", &hour, &minute, &second);
events::send<uint16_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t>(
events::ID("logger_open_file_time"),
events::Log::Info,
"logging: opening log file {1}-{2}-{3}/{4}_{5}_{6}.ulg",
year, month, day, hour, minute, second);
} else {
// Session-based format
uint16_t sess = 0;
sscanf(_file_name[(int)type].log_dir, "sess%hd", &sess);
uint16_t log_index = 0;
sscanf(_file_name[(int)type].log_file_name, "log%hd", &log_index);
events::send<uint16_t, uint16_t>(
events::ID("logger_open_file_sess"),
events::Log::Info,
"logging: opening log file sess{1}/log{2}.ulg",
sess, log_index);
}
}
if (_writer.start_log_file(type, file_name)) {
_writer.select_write_backend(LogWriter::BackendFile);
_writer.set_need_reliable_transfer(true);

5
src/modules/logger/logger.h
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@ -107,7 +107,7 @@ public:
Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
LogMode log_mode, bool log_name_timestamp, float rate_factor);
LogMode log_mode, float rate_factor);
~Logger();
@ -211,7 +211,7 @@ private:
/**
* Get log file name with directory (create it if necessary)
*/
int get_log_file_name(LogType type, char *file_name, size_t file_name_size, bool notify);
int get_log_file_name(LogType type, char *file_name, size_t file_name_size);
void start_log_file(LogType type);
@ -350,7 +350,6 @@ private:
hrt_abstime _last_sync_time{0}; ///< last time a sync msg was sent
LogMode _log_mode;
const bool _log_name_timestamp;
LoggerSubscription *_subscriptions{nullptr}; ///< all subscriptions for full & mission log (in front)
int _num_subscriptions{0};

42
src/modules/logger/util.cpp
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@ -55,8 +55,6 @@
#include <sys/statfs.h>
#endif
#define GPS_EPOCH_SECS ((time_t)1234567890ULL)
typedef decltype(statfs::f_bavail) px4_statfs_buf_f_bavail_t;
namespace px4
@ -72,46 +70,6 @@ bool file_exist(const char *filename)
return stat(filename, &buffer) == 0;
}
bool get_log_time(struct tm *tt, int utc_offset_sec, bool boot_time)
{
uORB::Subscription vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
time_t utc_time_sec;
bool use_clock_time = true;
/* Get the latest GPS publication */
sensor_gps_s gps_pos;
if (vehicle_gps_position_sub.copy(&gps_pos)) {
utc_time_sec = gps_pos.time_utc_usec / 1e6;
if (gps_pos.fix_type >= 2 && utc_time_sec >= GPS_EPOCH_SECS) {
use_clock_time = false;
}
}
if (use_clock_time) {
/* take clock time if there's no fix (yet) */
struct timespec ts = {};
px4_clock_gettime(CLOCK_REALTIME, &ts);
utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
if (utc_time_sec < GPS_EPOCH_SECS) {
return false;
}
}
/* strip the time elapsed since boot */
if (boot_time) {
utc_time_sec -= hrt_absolute_time() / 1e6;
}
/* apply utc offset */
utc_time_sec += utc_offset_sec;
return gmtime_r(&utc_time_sec, tt) != nullptr;
}
int check_free_space(const char *log_root_dir, int32_t max_log_dirs_to_keep, orb_advert_t &mavlink_log_pub,
int &sess_dir_index)
{

9
src/modules/logger/util.h
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@ -75,15 +75,6 @@ bool file_exist(const char *filename);
int check_free_space(const char *log_root_dir, int32_t max_log_dirs_to_keep, orb_advert_t &mavlink_log_pub,
int &sess_dir_index);
/**
* Get the time for log file name
* @param tt returned time
* @param utc_offset_sec UTC time offset [s]
* @param boot_time use time when booted instead of current time
* @return true on success, false otherwise (eg. if no gps)
*/
bool get_log_time(struct tm *tt, int utc_offset_sec = 0, bool boot_time = false);
} //namespace util
} //namespace logger
} //namespace px4