new logger

src/modules/logger/logger.h

@@ -0,0 +1,96 @@
+#pragma once
+
+#include "log_writer.h"
+#include "array.h"
+#include <px4.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/vehicle_status.h>
+
+extern "C" __EXPORT int logger_main(int argc, char *argv[]);
+
+#define TRY_SUBSCRIBE_INTERVAL 1000*1000	// interval in microseconds at which we try to subscribe to a topic
+// if we haven't succeeded before
+
+namespace px4
+{
+namespace logger
+{
+
+struct LoggerSubscription {
+	int fd[ORB_MULTI_MAX_INSTANCES];
+	uint64_t time_tried_subscribe;	// captures the time at which we checked last time if this instance existed
+	const orb_metadata *metadata = nullptr;
+
+	LoggerSubscription() {}
+
+	LoggerSubscription(int fd_, const orb_metadata *metadata_) :
+		metadata(metadata_)
+	{
+		fd[0] = fd_;
+		time_tried_subscribe = 0;
+
+		for (int i = 1; i < ORB_MULTI_MAX_INSTANCES; i++) { fd[i] = -1; }
+	}
+};
+
+class Logger
+{
+public:
+	Logger(size_t buffer_size, unsigned log_interval, bool log_on_start);
+
+	~Logger();
+
+	int add_topic(const orb_metadata *topic);
+
+	int add_topic(const char *name, unsigned interval);
+
+	static int start(char *const *argv);
+
+	static void usage(const char *reason);
+
+	void status();
+
+private:
+	static void run_trampoline(int argc, char *argv[]);
+
+	void run();
+
+	int create_log_dir();
+
+	static bool file_exist(const char *filename);
+
+	int get_log_file_name(char *file_name, size_t file_name_size);
+
+	void start_log();
+
+	void stop_log();
+
+	void write_formats();
+
+	void write_parameters();
+
+	bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer, uint64_t *time_last_checked);
+
+	static constexpr size_t 	MAX_TOPICS_NUM = 128;
+	static constexpr unsigned	MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
+	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
+	static constexpr const char 		*LOG_ROOT = PX4_ROOTFSDIR"/fs/microsd/log";
+
+	bool						_task_should_exit = true;
+	uint8_t 					*_log_buffer;
+	char 						_log_dir[64];
+	uORB::Subscription<vehicle_status_s>	_vehicle_status_sub {ORB_ID(vehicle_status)};
+	bool						_enabled = false;
+	bool 						_log_on_start;
+	Array<LoggerSubscription, MAX_TOPICS_NUM>	_subscriptions;
+	LogWriter					_writer;
+	uint32_t					_log_interval;
+};
+
+Logger *logger_ptr;
+int		logger_task = -1;
+pthread_t _writer_thread;
+
+}
+}