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Fixed mavlink timestamps, fixed SD logger, ready for flight tests

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This commit is contained in:
Lorenz Meier
2012-09-13 23:35:20 +02:00
parent e20c2541c6
commit a294ee2b87
3 changed files with 105 additions and 37 deletions
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apps/sdlog/Makefile
+1 -1
View File
@@ -36,7 +36,7 @@
#
APPNAME = sdlog
PRIORITY = SCHED_PRIORITY_DEFAULT - 1
PRIORITY = SCHED_PRIORITY_DEFAULT - 30
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/sdlog/sdlog.c
+69 -10
View File
@@ -50,6 +50,8 @@
#include <stdlib.h>
#include <string.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <arch/board/up_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
@@ -57,6 +59,7 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -117,12 +120,15 @@ int sdlog_main(int argc, char *argv[])
}
thread_should_exit = false;
deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 10, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 30, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog is not started\n");
}
thread_should_exit = true;
exit(0);
}
@@ -190,17 +196,31 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* create sensorfile */
int sensorfile;
unsigned sensor_combined_bytes = 0;
int actuator_outputs_file;
unsigned actuator_outputs_bytes = 0;
FILE *gpsfile;
unsigned blackbox_file_bytes = 0;
FILE *blackbox_file;
// FILE *vehiclefile;
char path_buf[64] = ""; // string to hold the path to the sensorfile
printf("[sdlog] logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/sensors_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensors_combined");
if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
int actuator_outputs_file_no = actuator_outputs_file;
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
if (NULL == (gpsfile = fopen(path_buf, "w"))) {
@@ -208,6 +228,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
}
int gpsfile_no = fileno(gpsfile);
/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int blackbox_file_no = fileno(blackbox_file);
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
@@ -223,9 +250,11 @@ int sdlog_thread_main(int argc, char *argv[]) {
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s actuators;
struct vehicle_command_s cmd;
} buf;
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int spa_sub;
@@ -233,6 +262,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
int actuators_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for sensors raw */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -243,7 +279,6 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
orb_set_interval(subs.att_sub, 100);
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -252,7 +287,6 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* subscribe to ORB for attitude setpoint */
/* struct already allocated */
subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
orb_set_interval(subs.spa_sub, 2000); /* 0.5 Hz updates */
fds[fdsc_count].fd = subs.spa_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -287,6 +321,10 @@ int sdlog_thread_main(int argc, char *argv[]) {
thread_running = true;
int poll_count = 0;
uint64_t starttime = hrt_absolute_time();
while (!thread_should_exit) {
int poll_ret = poll(fds, fdsc_count, timeout);
@@ -300,13 +338,29 @@ int sdlog_thread_main(int argc, char *argv[]) {
int ifds = 0;
if (poll_count % 2000 == 0) {
fsync(sensorfile);
fsync(actuator_outputs_file_no);
fsync(blackbox_file_no);
}
poll_count++;
/* --- VEHICLE COMMAND VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy command into local buffer */
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f-%f-%f-%f-%f-%f-%f]\n", hrt_absolute_time()/1000000.0d,
buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
}
/* --- SENSORS RAW VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
/* write out */
write(sensorfile, (const char*)&buf.raw, sizeof(buf.raw));
sensor_combined_bytes += write(sensorfile, (const char*)&buf.raw, sizeof(buf.raw));
}
/* --- ATTITUDE VALUE --- */
@@ -329,7 +383,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
/* write out */
actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.raw, sizeof(buf.raw));
}
/* --- ACTUATOR CONTROL --- */
@@ -337,17 +392,21 @@ int sdlog_thread_main(int argc, char *argv[]) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.actuators_sub, &buf.actuators);
}
/* enforce write to disk */
fsync(sensorfile);
fsync(gpsfile_no);
}
}
warn("exiting.");
unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
printf("[sdlog] wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
printf("[sdlog] exiting.\n");
close(sensorfile);
close(gpsfile);
fclose(gpsfile);
fclose(blackbox_file);
thread_running = false;