mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 16:30:34 +08:00
refactor logger: move some independent methods into separate util file
This commit is contained in:
Beat Küng
@@ -42,6 +42,7 @@ px4_add_module(
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log_writer.cpp
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log_writer_file.cpp
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log_writer_mavlink.cpp
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util.cpp
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watchdog.cpp
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DEPENDS
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version
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+15
-253
@@ -49,7 +49,6 @@
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#include <uORB/topics/log_message.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <drivers/drv_hrt.h>
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@@ -64,17 +63,6 @@
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#include <replay/definitions.hpp>
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#include <version/version.h>
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#if defined(__PX4_DARWIN)
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#include <sys/param.h>
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#include <sys/mount.h>
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#else
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#include <sys/statfs.h>
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#endif
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typedef decltype(statfs::f_bavail) px4_statfs_buf_f_bavail_t;
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#define GPS_EPOCH_SECS ((time_t)1234567890ULL)
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//#define DBGPRINT //write status output every few seconds
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#if defined(DBGPRINT)
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@@ -824,7 +812,13 @@ void Logger::run()
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}
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}
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if (check_free_space() == 1) {
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int32_t max_log_dirs_to_keep = 0;
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if (_log_dirs_max != PARAM_INVALID) {
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param_get(_log_dirs_max, &max_log_dirs_to_keep);
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}
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if (util::check_free_space(LOG_ROOT, max_log_dirs_to_keep, _mavlink_log_pub, _sess_dir_index) == 1) {
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return;
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}
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}
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@@ -1363,20 +1357,20 @@ int Logger::create_log_dir(tm *tt)
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return 0;
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}
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bool Logger::file_exist(const char *filename)
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{
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struct stat buffer;
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return stat(filename, &buffer) == 0;
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}
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int Logger::get_log_file_name(char *file_name, size_t file_name_size)
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{
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tm tt = {};
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bool time_ok = false;
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if (_log_name_timestamp) {
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int32_t utc_offset = 0;
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if (_log_utc_offset != PARAM_INVALID) {
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param_get(_log_utc_offset, &utc_offset);
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}
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/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.ulg */
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time_ok = get_log_time(&tt, false);
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time_ok = util::get_log_time(&tt, utc_offset * 60, false);
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}
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const char *replay_suffix = "";
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@@ -1409,7 +1403,7 @@ int Logger::get_log_file_name(char *file_name, size_t file_name_size)
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snprintf(_log_file_name, sizeof(_log_file_name), "log%03u%s.ulg", file_number, replay_suffix);
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snprintf(file_name, file_name_size, "%s/%s", _log_dir, _log_file_name);
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if (!file_exist(file_name)) {
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if (!util::file_exist(file_name)) {
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break;
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}
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@@ -1435,57 +1429,6 @@ void Logger::setReplayFile(const char *file_name)
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_replay_file_name = strdup(file_name);
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}
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bool Logger::get_log_time(struct tm *tt, bool boot_time)
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{
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int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
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if (vehicle_gps_position_sub < 0) {
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return false;
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}
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/* Get the latest GPS publication */
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vehicle_gps_position_s gps_pos;
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time_t utc_time_sec;
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bool use_clock_time = true;
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if (orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps_pos) == 0) {
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utc_time_sec = gps_pos.time_utc_usec / 1e6;
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if (gps_pos.fix_type >= 2 && utc_time_sec >= GPS_EPOCH_SECS) {
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use_clock_time = false;
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}
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}
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orb_unsubscribe(vehicle_gps_position_sub);
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if (use_clock_time) {
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/* take clock time if there's no fix (yet) */
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struct timespec ts = {};
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px4_clock_gettime(CLOCK_REALTIME, &ts);
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utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
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if (utc_time_sec < GPS_EPOCH_SECS) {
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return false;
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}
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}
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/* strip the time elapsed since boot */
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if (boot_time) {
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utc_time_sec -= hrt_absolute_time() / 1e6;
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}
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int32_t utc_offset = 0;
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if (_log_utc_offset != PARAM_INVALID) {
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param_get(_log_utc_offset, &utc_offset);
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}
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/* apply utc offset */
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utc_time_sec += utc_offset * 60;
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return gmtime_r(&utc_time_sec, tt) != nullptr;
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}
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void Logger::start_log_file()
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{
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if (_writer.is_started(LogWriter::BackendFile) || (_writer.backend() & LogWriter::BackendFile) == 0) {
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@@ -2053,187 +1996,6 @@ void Logger::write_changed_parameters()
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_writer.notify();
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}
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int Logger::check_free_space()
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{
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struct statfs statfs_buf;
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int32_t max_log_dirs_to_keep = 0;
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if (_log_dirs_max != PARAM_INVALID) {
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param_get(_log_dirs_max, &max_log_dirs_to_keep);
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}
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if (max_log_dirs_to_keep == 0) {
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max_log_dirs_to_keep = INT32_MAX;
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}
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// remove old logs if the free space falls below a threshold
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do {
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if (statfs(LOG_ROOT, &statfs_buf) != 0) {
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return PX4_ERROR;
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}
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DIR *dp = opendir(LOG_ROOT);
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if (dp == nullptr) {
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break; // ignore if we cannot access the log directory
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}
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struct dirent *result = nullptr;
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int num_sess = 0, num_dates = 0;
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// There are 2 directory naming schemes: sess<i> or <year>-<month>-<day>.
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// For both we find the oldest and then remove the one which has more directories.
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int year_min = 10000, month_min = 99, day_min = 99, sess_idx_min = 99999999, sess_idx_max = 0;
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while ((result = readdir(dp))) {
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int year, month, day, sess_idx;
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if (sscanf(result->d_name, "sess%d", &sess_idx) == 1) {
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++num_sess;
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if (sess_idx > sess_idx_max) {
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sess_idx_max = sess_idx;
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}
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if (sess_idx < sess_idx_min) {
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sess_idx_min = sess_idx;
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}
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} else if (sscanf(result->d_name, "%d-%d-%d", &year, &month, &day) == 3) {
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++num_dates;
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if (year < year_min) {
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year_min = year;
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month_min = month;
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day_min = day;
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} else if (year == year_min) {
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if (month < month_min) {
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month_min = month;
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day_min = day;
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} else if (month == month_min) {
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if (day < day_min) {
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day_min = day;
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}
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}
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}
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}
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}
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closedir(dp);
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_sess_dir_index = sess_idx_max + 1;
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uint64_t min_free_bytes = 300ULL * 1024ULL * 1024ULL;
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uint64_t total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
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if (total_bytes / 10 < min_free_bytes) { // reduce the minimum if it's larger than 10% of the disk size
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min_free_bytes = total_bytes / 10;
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}
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if (num_sess + num_dates <= max_log_dirs_to_keep &&
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statfs_buf.f_bavail >= (px4_statfs_buf_f_bavail_t)(min_free_bytes / statfs_buf.f_bsize)) {
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break; // enough free space and limit not reached
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}
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if (num_sess == 0 && num_dates == 0) {
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break; // nothing to delete
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}
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char directory_to_delete[LOG_DIR_LEN];
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int n;
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if (num_sess >= num_dates) {
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n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/sess%03u", LOG_ROOT, sess_idx_min);
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} else {
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n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/%04u-%02u-%02u", LOG_ROOT, year_min, month_min,
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day_min);
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}
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if (n >= (int)sizeof(directory_to_delete)) {
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PX4_ERR("log path too long (%i)", n);
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break;
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}
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PX4_INFO("removing log directory %s to get more space (left=%u MiB)", directory_to_delete,
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(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
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if (remove_directory(directory_to_delete)) {
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PX4_ERR("Failed to delete directory");
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break;
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}
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} while (true);
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/* use a threshold of 50 MiB: if below, do not start logging */
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if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
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mavlink_log_critical(&_mavlink_log_pub,
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"[logger] Not logging; SD almost full: %u MiB",
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(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
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return 1;
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}
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return PX4_OK;
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}
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int Logger::remove_directory(const char *dir)
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{
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DIR *d = opendir(dir);
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size_t dir_len = strlen(dir);
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struct dirent *p;
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int ret = 0;
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if (!d) {
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return -1;
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}
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while (!ret && (p = readdir(d))) {
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int ret2 = -1;
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char *buf;
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size_t len;
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if (!strcmp(p->d_name, ".") || !strcmp(p->d_name, "..")) {
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continue;
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}
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len = dir_len + strlen(p->d_name) + 2;
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buf = new char[len];
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if (buf) {
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struct stat statbuf;
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snprintf(buf, len, "%s/%s", dir, p->d_name);
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if (!stat(buf, &statbuf)) {
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if (S_ISDIR(statbuf.st_mode)) {
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ret2 = remove_directory(buf);
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} else {
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ret2 = unlink(buf);
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}
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}
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delete[] buf;
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}
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ret = ret2;
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}
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closedir(d);
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if (!ret) {
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ret = rmdir(dir);
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}
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return ret;
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}
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void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result)
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{
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vehicle_command_ack_s vehicle_command_ack = {};
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@@ -35,6 +35,7 @@
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#include "log_writer.h"
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#include "array.h"
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#include "util.h"
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#include <px4_defines.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/Subscription.hpp>
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@@ -50,12 +51,6 @@ extern "C" __EXPORT int logger_main(int argc, char *argv[]);
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#define TRY_SUBSCRIBE_INTERVAL 1000*1000 // interval in microseconds at which we try to subscribe to a topic
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// if we haven't succeeded before
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#ifdef __PX4_NUTTX
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#define LOG_DIR_LEN 64
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#else
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#define LOG_DIR_LEN 256
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#endif
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namespace px4
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{
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namespace logger
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@@ -185,26 +180,11 @@ private:
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*/
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int create_log_dir(tm *tt);
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/** recursively remove a directory
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* @return 0 on success, <0 otherwise
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*/
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int remove_directory(const char *dir);
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static bool file_exist(const char *filename);
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/**
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* Get log file name with directory (create it if necessary)
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*/
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int get_log_file_name(char *file_name, size_t file_name_size);
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/**
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* Check if there is enough free space left on the SD Card.
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* It will remove old log files if there is not enough space,
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* and if that fails return 1
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* @return 0 on success, 1 if not enough space, <0 on error
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*/
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int check_free_space();
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void start_log_file();
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void stop_log_file();
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@@ -275,14 +255,6 @@ private:
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*/
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bool write_message(void *ptr, size_t size);
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/**
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* Get the time for log file name
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* @param tt returned time
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* @param boot_time use time when booted instead of current time
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* @return true on success, false otherwise (eg. if no gps)
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*/
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bool get_log_time(struct tm *tt, bool boot_time = false);
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/**
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* Parse a file containing a list of uORB topics to log, calling add_topic for each
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* @param fname name of file
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@@ -0,0 +1,295 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "util.h"
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||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
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#include <px4_log.h>
|
||||
#include <px4_time.h>
|
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#include <systemlib/mavlink_log.h>
|
||||
|
||||
#if defined(__PX4_DARWIN)
|
||||
#include <sys/param.h>
|
||||
#include <sys/mount.h>
|
||||
#else
|
||||
#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
|
||||
{
|
||||
namespace logger
|
||||
{
|
||||
namespace util
|
||||
{
|
||||
|
||||
bool file_exist(const char *filename)
|
||||
{
|
||||
struct stat buffer;
|
||||
return stat(filename, &buffer) == 0;
|
||||
}
|
||||
|
||||
bool get_log_time(struct tm *tt, int utc_offset_sec, bool boot_time)
|
||||
{
|
||||
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
|
||||
if (vehicle_gps_position_sub < 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Get the latest GPS publication */
|
||||
vehicle_gps_position_s gps_pos;
|
||||
time_t utc_time_sec;
|
||||
bool use_clock_time = true;
|
||||
|
||||
if (orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps_pos) == 0) {
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
orb_unsubscribe(vehicle_gps_position_sub);
|
||||
|
||||
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)
|
||||
{
|
||||
struct statfs statfs_buf;
|
||||
|
||||
if (max_log_dirs_to_keep == 0) {
|
||||
max_log_dirs_to_keep = INT32_MAX;
|
||||
}
|
||||
|
||||
// remove old logs if the free space falls below a threshold
|
||||
do {
|
||||
if (statfs(log_root_dir, &statfs_buf) != 0) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
DIR *dp = opendir(log_root_dir);
|
||||
|
||||
if (dp == nullptr) {
|
||||
break; // ignore if we cannot access the log directory
|
||||
}
|
||||
|
||||
struct dirent *result = nullptr;
|
||||
|
||||
int num_sess = 0, num_dates = 0;
|
||||
|
||||
// There are 2 directory naming schemes: sess<i> or <year>-<month>-<day>.
|
||||
// For both we find the oldest and then remove the one which has more directories.
|
||||
int year_min = 10000, month_min = 99, day_min = 99, sess_idx_min = 99999999, sess_idx_max = 0;
|
||||
|
||||
while ((result = readdir(dp))) {
|
||||
int year, month, day, sess_idx;
|
||||
|
||||
if (sscanf(result->d_name, "sess%d", &sess_idx) == 1) {
|
||||
++num_sess;
|
||||
|
||||
if (sess_idx > sess_idx_max) {
|
||||
sess_idx_max = sess_idx;
|
||||
}
|
||||
|
||||
if (sess_idx < sess_idx_min) {
|
||||
sess_idx_min = sess_idx;
|
||||
}
|
||||
|
||||
} else if (sscanf(result->d_name, "%d-%d-%d", &year, &month, &day) == 3) {
|
||||
++num_dates;
|
||||
|
||||
if (year < year_min) {
|
||||
year_min = year;
|
||||
month_min = month;
|
||||
day_min = day;
|
||||
|
||||
} else if (year == year_min) {
|
||||
if (month < month_min) {
|
||||
month_min = month;
|
||||
day_min = day;
|
||||
|
||||
} else if (month == month_min) {
|
||||
if (day < day_min) {
|
||||
day_min = day;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
closedir(dp);
|
||||
|
||||
sess_dir_index = sess_idx_max + 1;
|
||||
|
||||
|
||||
uint64_t min_free_bytes = 300ULL * 1024ULL * 1024ULL;
|
||||
uint64_t total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
|
||||
|
||||
if (total_bytes / 10 < min_free_bytes) { // reduce the minimum if it's larger than 10% of the disk size
|
||||
min_free_bytes = total_bytes / 10;
|
||||
}
|
||||
|
||||
if (num_sess + num_dates <= max_log_dirs_to_keep &&
|
||||
statfs_buf.f_bavail >= (px4_statfs_buf_f_bavail_t)(min_free_bytes / statfs_buf.f_bsize)) {
|
||||
break; // enough free space and limit not reached
|
||||
}
|
||||
|
||||
if (num_sess == 0 && num_dates == 0) {
|
||||
break; // nothing to delete
|
||||
}
|
||||
|
||||
char directory_to_delete[LOG_DIR_LEN];
|
||||
int n;
|
||||
|
||||
if (num_sess >= num_dates) {
|
||||
n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/sess%03u", log_root_dir, sess_idx_min);
|
||||
|
||||
} else {
|
||||
n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/%04u-%02u-%02u", log_root_dir, year_min, month_min,
|
||||
day_min);
|
||||
}
|
||||
|
||||
if (n >= (int)sizeof(directory_to_delete)) {
|
||||
PX4_ERR("log path too long (%i)", n);
|
||||
break;
|
||||
}
|
||||
|
||||
PX4_INFO("removing log directory %s to get more space (left=%u MiB)", directory_to_delete,
|
||||
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
|
||||
|
||||
if (remove_directory(directory_to_delete)) {
|
||||
PX4_ERR("Failed to delete directory");
|
||||
break;
|
||||
}
|
||||
|
||||
} while (true);
|
||||
|
||||
|
||||
/* use a threshold of 50 MiB: if below, do not start logging */
|
||||
if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
|
||||
mavlink_log_critical(&mavlink_log_pub,
|
||||
"[logger] Not logging; SD almost full: %u MiB",
|
||||
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
|
||||
return 1;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int remove_directory(const char *dir)
|
||||
{
|
||||
DIR *d = opendir(dir);
|
||||
size_t dir_len = strlen(dir);
|
||||
struct dirent *p;
|
||||
int ret = 0;
|
||||
|
||||
if (!d) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
while (!ret && (p = readdir(d))) {
|
||||
int ret2 = -1;
|
||||
char *buf;
|
||||
size_t len;
|
||||
|
||||
if (!strcmp(p->d_name, ".") || !strcmp(p->d_name, "..")) {
|
||||
continue;
|
||||
}
|
||||
|
||||
len = dir_len + strlen(p->d_name) + 2;
|
||||
buf = new char[len];
|
||||
|
||||
if (buf) {
|
||||
struct stat statbuf;
|
||||
|
||||
snprintf(buf, len, "%s/%s", dir, p->d_name);
|
||||
|
||||
if (!stat(buf, &statbuf)) {
|
||||
if (S_ISDIR(statbuf.st_mode)) {
|
||||
ret2 = remove_directory(buf);
|
||||
|
||||
} else {
|
||||
ret2 = unlink(buf);
|
||||
}
|
||||
}
|
||||
|
||||
delete[] buf;
|
||||
}
|
||||
|
||||
ret = ret2;
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
|
||||
if (!ret) {
|
||||
ret = rmdir(dir);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
} //namespace util
|
||||
} //namespace logger
|
||||
} //namespace px4
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <time.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#define LOG_DIR_LEN 64
|
||||
#else
|
||||
#define LOG_DIR_LEN 256
|
||||
#endif
|
||||
|
||||
namespace px4
|
||||
{
|
||||
namespace logger
|
||||
{
|
||||
namespace util
|
||||
{
|
||||
|
||||
/**
|
||||
* Recursively remove a directory
|
||||
* @return 0 on success, <0 otherwise
|
||||
*/
|
||||
int remove_directory(const char *dir);
|
||||
|
||||
/**
|
||||
* check if a file exists
|
||||
*/
|
||||
bool file_exist(const char *filename);
|
||||
|
||||
/**
|
||||
* Check if there is enough free space left on the SD Card.
|
||||
* It will remove old log files if there is not enough space,
|
||||
* and if that fails return 1, and send a user message
|
||||
* @param log_root_dir log root directory: it's expected to contain directories in the form of sess%i or %d-%d-%d (year, month, day)
|
||||
* @param max_log_dirs_to_keep maximum log directories to keep (set to 0 for unlimited)
|
||||
* @param mavlink_log_pub
|
||||
* @param sess_dir_index output argument: will be set to the next free directory sess%i index.
|
||||
* @return 0 on success, 1 if not enough space, <0 on error
|
||||
*/
|
||||
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
|
||||
Reference in New Issue
Block a user