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WIP: px4log

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This commit is contained in:
Daniel Agar
2023-03-16 21:20:58 -04:00
parent 0ae296bfe2
commit b4555db0e7
245 changed files with 573 additions and 1185 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/CMakeLists.txt
-1
View File
@@ -36,7 +36,6 @@ set(SRCS)
if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
list(APPEND SRCS
px4_log.cpp
px4_log_history.cpp
)
endif()
platforms/common/i2c_spi_buses.cpp
+9 -20
View File
@@ -654,39 +654,28 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS:
PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus());
if (iterator.external()) {
PX4_INFO_RAW(" (external)");
}
PX4_INFO("%s #%i on I2C bus %d (external) address 0x%X, rotation %d", instance->ItemName(), runtime_instance,
iterator.bus(), cli.i2c_address, cli.rotation);
if (cli.i2c_address != 0) {
PX4_INFO_RAW(" address 0x%X", cli.i2c_address);
} else {
PX4_INFO("%s #%i on I2C bus %d address 0x%X, rotation %d", instance->ItemName(), runtime_instance, iterator.bus(),
cli.i2c_address, cli.rotation);
}
if (cli.rotation != 0) {
PX4_INFO_RAW(" rotation %d", cli.rotation);
}
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS:
PX4_INFO_RAW("%s #%i on SPI bus %d", instance->ItemName(), runtime_instance, iterator.bus());
if (iterator.external()) {
PX4_INFO_RAW(" (external, equal to '-b %i')", iterator.externalBusIndex());
}
PX4_INFO("%s #%i on SPI bus %d rotation %d (external, equal to '-b %i')", instance->ItemName(), runtime_instance,
iterator.bus(), cli.rotation, iterator.externalBusIndex());
if (cli.rotation != 0) {
PX4_INFO_RAW(" rotation %d", cli.rotation);
} else {
PX4_INFO("%s #%i on SPI bus %d rotation %d", instance->ItemName(), runtime_instance, iterator.bus(), cli.rotation);
}
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_SPI
platforms/common/include/px4_platform_common/console_buffer.h
-99
View File
@@ -1,99 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
/**
* @file console_buffer.h
* This implements a simple console buffer to store the full bootup output.
* It can be printed via the 'dmesg' utility.
* The output of stdout is redirected to CONSOLE_BUFFER_DEVICE, which is stored
* to a circular buffer and output to stderr, so that everything is still printed
* to the original console.
*/
#include <px4_platform_common/px4_config.h>
#define CONSOLE_BUFFER_DEVICE "/dev/console_buf"
#ifdef BOARD_ENABLE_CONSOLE_BUFFER
__BEGIN_DECLS
/**
* Initialize the console buffer: register the CONSOLE_BUFFER_DEVICE
* @return 0 on success, <0 error otherwise
*/
int px4_console_buffer_init();
/**
* Print content of the console buffer to stdout
* @param follow if true keep waiting and print new content whenever the buffer
* is updated
*/
void px4_console_buffer_print(bool follow);
/**
* Get the current used buffer size
*/
int px4_console_buffer_size();
/**
* Read (chunks) of the console buffer.
* Note that no lock is held between reading multiple chunks, so the buffer could get
* updated meanwhile. Use px4_console_buffer_size() to read no more than expected.
* @param buffer output buffer
* @param buffer_length output buffer length
* @param offset input and output argument for the offset. Initially set this to -1.
* @return number of bytes written to the buffer (or <0 on error)
*/
int px4_console_buffer_read(char *buffer, int buffer_length, int *offset);
__END_DECLS
#else
static inline int px4_console_buffer_init()
{
return 0;
}
static inline int px4_console_buffer_size()
{
return 0;
}
static inline int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
{
return 0;
}
#endif /* BOARD_ENABLE_CONSOLE_BUFFER */
platforms/common/include/px4_platform_common/log.h
-1
View File
@@ -130,7 +130,6 @@ __EXPORT void px4_log_modulename(int level, const char *moduleName, const char *
__attribute__((format(printf, 3, 4)));
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
__attribute__((format(printf, 2, 3)));
__EXPORT void px4_log_history(FILE *out);
#if __GNUC__
// Allow empty format strings.
platforms/common/include/px4_platform_common/log_history.h
-68
View File
@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2022 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 <px4_platform_common/px4_config.h>
#if defined(BOARD_ENABLE_LOG_HISTORY)
#include <stdio.h>
#include <px4_platform_common/sem.h>
#ifndef BOARD_LOG_HISTORY_SIZE
#define BOARD_LOG_HISTORY_SIZE (1024*4) // default buffer size
#endif
class LogHistory
{
public:
LogHistory() { px4_sem_init(&_lock, 0, 1); }
~LogHistory() { px4_sem_destroy(&_lock); }
void write(const char *buffer);
void print(FILE *out);
private:
void lock() { do {} while (px4_sem_wait(&_lock) != 0); }
void unlock() { px4_sem_post(&_lock); }
int size();
int read(char *buffer, int buffer_length, int *offset);
char _log_history[BOARD_LOG_HISTORY_SIZE];
int _head{0};
int _tail{0};
px4_sem_t _lock;
};
#endif
platforms/common/include/px4_platform_common/module.h
+2 -2
View File
@@ -284,7 +284,7 @@ public:
ret = object->print_status();
} else {
PX4_INFO("not running");
PX4_INFO_RAW("not running\n");
}
unlock_module();
@@ -298,7 +298,7 @@ public:
*/
virtual int print_status()
{
PX4_INFO("running");
PX4_INFO_RAW("running\n");
return 0;
}
platforms/common/px4_log.cpp
+1 -135
View File
@@ -41,7 +41,6 @@
#endif
#include <px4_platform_common/log.h>
#include <px4_platform_common/log_history.h>
#if defined(__PX4_POSIX)
#include <px4_daemon/server_io.h>
#endif
@@ -51,10 +50,6 @@
#include <uORB/topics/log_message.h>
#include <drivers/drv_hrt.h>
#if defined(BOARD_ENABLE_LOG_HISTORY)
static LogHistory g_log_history;
#endif
static orb_advert_t orb_log_message_pub = nullptr;
__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
@@ -81,104 +76,8 @@ __EXPORT void px4_log_modulename(int level, const char *module_name, const char
{
static constexpr ssize_t max_length = sizeof(log_message_s::text);
FILE *out = stdout;
#if defined(PX4_LOG_COLORIZED_OUTPUT)
bool use_color = true;
#endif // PX4_LOG_COLORIZED_OUTPUT
#if defined(__PX4_POSIX)
bool isatty_ = false;
out = get_stdout(&isatty_);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
use_color = isatty_;
#endif // PX4_LOG_COLORIZED_OUTPUT
#endif // PX4_POSIX
if (level >= _PX4_LOG_LEVEL_INFO) {
char buf[max_length + 1]; // same length as log_message_s::text, but add newline
ssize_t pos = 0;
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += sprintf(buf + pos, "%s", __px4_log_level_color[level]);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_level_fmt, __px4_log_level_str[level]);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), PX4_ANSI_COLOR_GRAY);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), "%s", __px4_log_level_color[level]);
}
#endif // PX4_LOG_COLORIZED_OUTPUT
va_list argptr;
va_start(argptr, fmt);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
#if defined(PX4_LOG_COLORIZED_OUTPUT)
if (use_color) {
// alway reset color
const ssize_t sz = math::min(pos, max_length - (ssize_t)strlen(PX4_ANSI_COLOR_RESET) - (ssize_t)1);
pos += sprintf(buf + sz, "%s\n", PX4_ANSI_COLOR_RESET);
} else
#endif // PX4_LOG_COLORIZED_OUTPUT
{
pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
}
// ensure NULL termination (buffer is max_length + 1)
buf[max_length] = 0;
fputs(buf, out);
#if defined(BOARD_ENABLE_LOG_HISTORY)
#if defined(PX4_LOG_COLORIZED_OUTPUT)
// No color formatting for log history
if (use_color) {
pos = snprintf(buf, max_length, __px4__log_level_fmt, __px4_log_level_str[level]);
pos += snprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), __px4__log_modulename_pfmt, module_name);
va_start(argptr, fmt);
pos += vsnprintf(buf + pos, math::max(max_length - pos, (ssize_t)0), fmt, argptr);
va_end(argptr);
pos += sprintf(buf + math::min(pos, max_length - (ssize_t)1), "\n");
buf[max_length] = 0; // ensure NULL termination
}
#endif
g_log_history.write(buf);
#endif // BOARD_ENABLE_LOG_HISTORY
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
// Without flushing it's tricky to see stdout output when PX4 is started by
// a script like for the MAVSDK tests.
fflush(out);
#endif // CONFIG_ARCH_BOARD_PX4_SITL
}
/* publish an orb log message */
if (level >= _PX4_LOG_LEVEL_INFO && orb_log_message_pub) { //publish all messages
if (orb_log_message_pub) { //publish all messages
log_message_s log_message;
@@ -251,38 +150,5 @@ __EXPORT void px4_log_raw(int level, const char *fmt, ...)
buf[max_length] = 0;
fputs(buf, out);
#if defined(BOARD_ENABLE_LOG_HISTORY)
#if defined(PX4_LOG_COLORIZED_OUTPUT)
// No color formatting for log history
if (use_color) {
va_start(argptr, fmt);
pos = vsnprintf(buf, max_length, fmt, argptr);
va_end(argptr);
if (pos > max_length) {
// preserve newline if necessary
if (fmt[strlen(fmt) - 1] == '\n') {
buf[max_length - 1] = '\n';
}
}
buf[max_length] = 0; // ensure NULL termination
}
#endif
g_log_history.write(buf);
#endif // BOARD_ENABLE_LOG_HISTORY
}
}
__EXPORT void px4_log_history(FILE *out)
{
#if defined(BOARD_ENABLE_LOG_HISTORY)
g_log_history.print(out);
#endif // BOARD_ENABLE_LOG_HISTORY
}
platforms/common/px4_log_history.cpp
-147
View File
@@ -1,147 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2022 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 <px4_platform_common/log_history.h>
#if defined(BOARD_ENABLE_LOG_HISTORY)
#include <string.h>
void LogHistory::print(FILE *out)
{
const int buffer_length = 512;
char buffer[buffer_length];
int offset = -1;
int total_size_read = 0;
do {
int read_size = read(buffer, buffer_length, &offset);
if (read_size <= 0) {
break;
}
fwrite(buffer, 1, read_size, out);
if (read_size < buffer_length) {
break;
}
total_size_read += read_size;
} while (total_size_read < BOARD_LOG_HISTORY_SIZE);
}
// Log a null terminated string to the circular history buffer.
void LogHistory::write(const char *buffer)
{
lock(); // same rule as for printf: this cannot be used from IRQ handlers
int i = 0;
while (buffer[i] != '\0') {
_log_history[_tail] = buffer[i++];
_tail = (_tail + 1) % BOARD_LOG_HISTORY_SIZE;
if (_tail == _head) {
_head = (_head + 1) % BOARD_LOG_HISTORY_SIZE;
}
}
unlock();
}
int LogHistory::size()
{
lock();
int size;
if (_head <= _tail) {
size = _tail - _head;
} else {
size = BOARD_LOG_HISTORY_SIZE - (_head - _tail);
}
unlock();
return size;
}
int LogHistory::read(char *buffer, int buffer_length, int *offset)
{
lock();
if (*offset == -1) {
*offset = _head;
}
int size = 0;
if (*offset < _tail) {
size = _tail - *offset;
if (size > buffer_length) {
size = buffer_length;
}
memcpy(buffer, _log_history + *offset, size);
} else if (_tail < *offset) {
size = BOARD_LOG_HISTORY_SIZE - *offset;
if (size > buffer_length) {
size = buffer_length;
}
memcpy(buffer, _log_history + *offset, size);
buffer += size;
buffer_length -= size;
int size_secondary = _tail;
if (size_secondary > buffer_length) {
size_secondary = buffer_length;
}
if (size_secondary > 0) {
memcpy(buffer, _log_history, size_secondary);
size += size_secondary;
}
}
unlock();
*offset = (*offset + size) % BOARD_LOG_HISTORY_SIZE;
return size;
}
#endif
platforms/common/shutdown.cpp
+3 -3
View File
@@ -174,7 +174,7 @@ static void shutdown_worker(void *arg)
if (delay_elapsed && ((done && shutdown_lock_counter == 0) || (now > (shutdown_time_us + shutdown_timeout_us)))) {
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
#if defined(CONFIG_BOARDCTL_RESET)
PX4_INFO_RAW("Reboot NOW.");
PX4_INFO("Reboot NOW.");
boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
#else
PX4_PANIC("board reset not available");
@@ -182,7 +182,7 @@ static void shutdown_worker(void *arg)
} else {
#if defined(BOARD_HAS_POWER_CONTROL)
PX4_INFO_RAW("Powering off NOW.");
PX4_INFO("Powering off NOW.");
#if defined(CONFIG_BOARDCTL_POWEROFF)
boardctl(BOARDIOC_POWEROFF, 0);
#else
@@ -190,7 +190,7 @@ static void shutdown_worker(void *arg)
#endif
#elif defined(__PX4_POSIX)
// simply exit on posix if real shutdown (poweroff) not available
PX4_INFO_RAW("Exiting NOW.");
PX4_INFO("Exiting NOW.");
system_exit(0);
#else
PX4_PANIC("board shutdown not available");
platforms/common/uORB/Subscription.hpp
+2
View File
@@ -183,6 +183,8 @@ public:
ORB_ID orb_id() const { return _orb_id; }
void reset() { _last_generation = 0; }
protected:
friend class SubscriptionCallback;
platforms/common/uORB/SubscriptionBlocking.hpp
+2
View File
@@ -161,6 +161,8 @@ public:
return false;
}
void reset() { _subscription.reset(); }
private:
pthread_mutex_t _mutex = PTHREAD_MUTEX_INITIALIZER;