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logger: introduce optional topics

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The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.

This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
This commit is contained in:
Beat Küng
2021-11-15 09:02:03 -05:00
committed by Daniel Agar
parent 177fe4bade
commit 4ba84d56c9
24 changed files with 120 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+70 -55
View File
@@ -51,25 +51,26 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_topic("actuator_controls_3", 100);
add_topic("actuator_controls_status_0", 300);
add_optional_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200);
add_topic("autotune_attitude_control_status", 100);
add_topic("camera_capture");
add_topic("camera_trigger");
add_optional_topic("airspeed_validated", 200);
add_optional_topic("autotune_attitude_control_status", 100);
add_optional_topic("camera_capture");
add_optional_topic("camera_trigger");
add_topic("cellular_status", 200);
add_topic("commander_state");
add_topic("cpuload");
add_topic("esc_status", 250);
add_optional_topic("esc_status", 250);
add_topic("failure_detector_status", 100);
add_topic("follow_target", 500);
add_topic("generator_status");
add_topic("heater_status");
add_optional_topic("generator_status");
add_optional_topic("gps_dump");
add_optional_topic("heater_status");
add_topic("home_position");
add_topic("hover_thrust_estimate", 100);
add_topic("input_rc", 500);
add_topic("internal_combustion_engine_status", 10);
add_topic("magnetometer_bias_estimate", 200);
add_optional_topic("internal_combustion_engine_status", 10);
add_optional_topic("magnetometer_bias_estimate", 200);
add_topic("manual_control_setpoint", 200);
add_topic("manual_control_switches");
add_topic("mission_result");
@@ -79,19 +80,19 @@ void LoggedTopics::add_default_topics()
add_topic("parameter_update");
add_topic("position_controller_status", 500);
add_topic("position_setpoint_triplet", 200);
add_topic("px4io_status");
add_optional_topic("px4io_status");
add_topic("radio_status");
add_topic("rpm", 500);
add_optional_topic("rpm", 500);
add_topic("rtl_flight_time", 1000);
add_topic("safety");
add_topic("sensor_combined");
add_topic("sensor_correction");
add_topic("sensor_gyro_fft", 50);
add_optional_topic("sensor_correction");
add_optional_topic("sensor_gyro_fft", 50);
add_topic("sensor_selection");
add_topic("sensors_status_imu", 200);
add_topic("system_power", 500);
add_topic("takeoff_status", 1000);
add_topic("tecs_status", 200);
add_optional_topic("takeoff_status", 1000);
add_optional_topic("tecs_status", 200);
add_topic("trajectory_setpoint", 200);
add_topic("transponder_report");
add_topic("vehicle_acceleration", 50);
@@ -112,15 +113,15 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_roi", 1000);
add_topic("vehicle_status");
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
add_optional_topic("vtol_vehicle_status", 200);
add_topic("wind", 1000);
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000);
add_optional_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000, 4);
add_topic_multi("control_allocator_status", 200, 2);
add_topic_multi("rate_ctrl_status", 200, 2);
add_topic_multi("telemetry_status", 1000, 4);
add_optional_topic_multi("rate_ctrl_status", 200, 2);
add_optional_topic_multi("telemetry_status", 1000, 4);
// EKF multi topics (currently max 9 estimators)
#if CONSTRAINED_MEMORY
@@ -128,39 +129,54 @@ void LoggedTopics::add_default_topics()
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed
add_topic("estimator_selector_status");
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
#endif
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// always add the first instance
add_topic("ekf_gps_drift", 1000);
add_topic("estimator_baro_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_innovation_test_ratios", 500);
add_topic("estimator_innovation_variances", 500);
add_topic("estimator_innovations", 500);
add_topic("estimator_optical_flow_vel", 200);
add_topic("estimator_sensor_bias", 0);
add_topic("estimator_states", 1000);
add_topic("estimator_status", 200);
add_topic("estimator_status_flags", 0);
add_topic("estimator_visual_odometry_aligned", 200);
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2);
add_topic_multi("differential_pressure", 1000, 2);
add_topic_multi("distance_sensor", 1000, 2);
add_optional_topic_multi("distance_sensor", 1000, 2);
add_topic_multi("optical_flow", 1000, 1);
add_topic_multi("sensor_accel", 1000, 4);
add_topic_multi("sensor_baro", 1000, 4);
add_optional_topic_multi("sensor_accel", 1000, 4);
add_optional_topic_multi("sensor_baro", 1000, 4);
add_topic_multi("sensor_gps", 1000, 2);
add_topic_multi("sensor_gyro", 1000, 4);
add_topic_multi("sensor_mag", 1000, 4);
add_optional_topic_multi("sensor_gyro", 1000, 4);
add_optional_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("vehicle_imu", 500, 4);
add_topic_multi("vehicle_imu_status", 1000, 4);
add_topic_multi("vehicle_magnetometer", 500, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw");
@@ -175,12 +191,6 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_local_position_groundtruth", 100);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
int32_t gps_dump_comm = 0;
param_get(param_find("GPS_DUMP_COMM"), &gps_dump_comm);
if (gps_dump_comm >= 1) {
add_topic("gps_dump");
}
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
@@ -362,13 +372,18 @@ void LoggedTopics::add_mission_topic(const char *name, uint16_t interval_ms)
}
}
bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, uint8_t instance)
bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, uint8_t instance, bool optional)
{
if (_subscriptions.count >= MAX_TOPICS_NUM) {
PX4_WARN("Too many subscriptions, failed to add: %s %" PRIu8, topic->o_name, instance);
return false;
}
if (optional && orb_exists(topic, instance) != 0) {
PX4_DEBUG("Not adding non-existing optional topic %s %i", topic->o_name, instance);
return false;
}
RequestedSubscription &sub = _subscriptions.sub[_subscriptions.count++];
sub.interval_ms = interval_ms;
sub.instance = instance;
@@ -376,7 +391,7 @@ bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, ui
return true;
}
bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t instance)
bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t instance, bool optional)
{
const orb_metadata *const *topics = orb_get_topics();
bool success = false;
@@ -401,7 +416,7 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
}
if (!already_added) {
success = add_topic(topics[i], interval_ms, instance);
success = add_topic(topics[i], interval_ms, instance, optional);
PX4_DEBUG("logging topic: %s(%" PRUu8 "), interval: %" PRUu16, topics[i]->o_name, instance, interval_ms);
break;
}
@@ -411,11 +426,11 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
return success;
}
bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances)
bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances, bool optional)
{
// add all possible instances
for (uint8_t instance = 0; instance < max_num_instances; instance++) {
add_topic(name, interval_ms, instance);
add_topic(name, interval_ms, instance, optional);
}
return true;