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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-09 00:31:37 +08:00
WIP: px4log
This commit is contained in:
Daniel Agar
@@ -20,23 +20,6 @@ document px4
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. Use 'help <macro>' for more specific help.
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end
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define dmesg
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if g_console_buffer
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printf "PX4 dmesg:\n"
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# TODO: respect head and tail
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printf "%s\n", g_console_buffer._buffer
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else
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printf "PX4 dmesg unavailable\n"
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end
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end
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document dmesg
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. dmesg
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. Prints dmesg (if available).
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end
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define _perf_print
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set $hdr = (struct perf_ctr_header *)$arg0
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#printf "%p\n", $hdr
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@@ -39,7 +39,6 @@ if(NOT PX4_BOARD MATCHES "io-v2")
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board_dma_alloc.c
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board_fat_dma_alloc.c
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cdc_acm_check.cpp
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console_buffer.cpp
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cpuload.cpp
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gpio.c
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print_load.cpp
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@@ -1,239 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/console_buffer.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/sem.h>
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#include <pthread.h>
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#include <string.h>
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#include <fcntl.h>
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#ifdef BOARD_ENABLE_CONSOLE_BUFFER
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#ifndef BOARD_CONSOLE_BUFFER_SIZE
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# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
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#endif
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static ssize_t console_buffer_write(struct file *filep, const char *buffer, size_t buflen);
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class ConsoleBuffer
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{
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public:
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void write(const char *buffer, size_t len);
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void print(bool follow);
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int size();
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int read(char *buffer, int buffer_length, int *offset);
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private:
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void lock() { do {} while (px4_sem_wait(&_lock) != 0); }
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void unlock() { px4_sem_post(&_lock); }
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char _buffer[BOARD_CONSOLE_BUFFER_SIZE];
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int _head{0};
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int _tail{0};
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px4_sem_t _lock = SEM_INITIALIZER(1);
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};
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void ConsoleBuffer::print(bool follow)
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{
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// print to stdout, but with a buffer in between to avoid nested locking and potential dead-locks
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// (which could happen in combination with the MAVLink shell: dmesg writing to the pipe waiting
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// mavlink to read, while mavlink calls printf, waiting for the console lock)
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const int buffer_length = 512;
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char buffer[buffer_length];
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int offset = -1;
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do {
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// print the full buffer or what's newly added
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int total_size_read = 0;
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do {
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int read_size = read(buffer, buffer_length, &offset);
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if (read_size <= 0) {
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break;
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}
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::write(1, buffer, read_size);
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if (read_size < buffer_length) {
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break;
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}
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total_size_read += read_size;
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} while (total_size_read < BOARD_CONSOLE_BUFFER_SIZE);
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if (follow) {
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usleep(10000);
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}
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} while (follow);
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}
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void ConsoleBuffer::write(const char *buffer, size_t len)
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{
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lock(); // same rule as for printf: this cannot be used from IRQ handlers
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for (size_t i = 0; i < len; ++i) {
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_buffer[_tail] = buffer[i];
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_tail = (_tail + 1) % BOARD_CONSOLE_BUFFER_SIZE;
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if (_tail == _head) {
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_head = (_head + 1) % BOARD_CONSOLE_BUFFER_SIZE;
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}
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}
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unlock();
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}
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int ConsoleBuffer::size()
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{
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lock();
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int size;
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if (_head <= _tail) {
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size = _tail - _head;
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} else {
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size = BOARD_CONSOLE_BUFFER_SIZE - (_head - _tail);
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}
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unlock();
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return size;
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}
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int ConsoleBuffer::read(char *buffer, int buffer_length, int *offset)
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{
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lock();
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if (*offset == -1) {
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*offset = _head;
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}
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int size = 0;
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if (*offset < _tail) {
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size = _tail - *offset;
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if (size > buffer_length) {
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size = buffer_length;
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}
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memcpy(buffer, _buffer + *offset, size);
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} else if (_tail < *offset) {
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size = BOARD_CONSOLE_BUFFER_SIZE - *offset;
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if (size > buffer_length) {
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size = buffer_length;
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}
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memcpy(buffer, _buffer + *offset, size);
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buffer += size;
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buffer_length -= size;
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int size_secondary = _tail;
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if (size_secondary > buffer_length) {
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size_secondary = buffer_length;
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}
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if (size_secondary > 0) {
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memcpy(buffer, _buffer, size_secondary);
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size += size_secondary;
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}
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}
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unlock();
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*offset = (*offset + size) % BOARD_CONSOLE_BUFFER_SIZE;
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return size;
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}
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static ConsoleBuffer g_console_buffer;
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void px4_console_buffer_print(bool follow)
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{
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g_console_buffer.print(follow);
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}
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ssize_t console_buffer_write(struct file *filep, const char *buffer, size_t len)
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{
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g_console_buffer.write(buffer, len);
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// stderr still points to our original console and is available from everywhere, so we output to that.
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// We could use up_putc() as well, but it is considerably less efficient.
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// The drawback here is that a module writing to stderr bypasses the console buffer.
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write(2, buffer, len);
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fsync(2);
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return len;
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}
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static const struct file_operations g_console_buffer_fops = {
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NULL, /* open */
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NULL, /* close */
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NULL, /* read */
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console_buffer_write, /* write */
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NULL, /* seek */
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NULL /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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, NULL /* poll */
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#endif
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, NULL /* unlink */
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#endif
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};
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int px4_console_buffer_init()
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{
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return register_driver(CONSOLE_BUFFER_DEVICE, &g_console_buffer_fops, 0666, NULL);
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}
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int px4_console_buffer_size()
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{
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return g_console_buffer.size();
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}
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int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
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{
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return g_console_buffer.read(buffer, buffer_length, offset);
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}
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#endif /* BOARD_ENABLE_CONSOLE_BUFFER */
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@@ -1,65 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/console_buffer.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/sem.h>
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#include <pthread.h>
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#include <string.h>
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#include <fcntl.h>
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#ifdef BOARD_ENABLE_CONSOLE_BUFFER
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#ifndef BOARD_CONSOLE_BUFFER_SIZE
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# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
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#endif
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// TODO: User side implementation of px4_console_buffer
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int px4_console_buffer_init()
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{
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return 0;
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}
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int px4_console_buffer_size()
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{
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return 0;
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}
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int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
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{
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return 0;
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}
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#endif /* BOARD_ENABLE_CONSOLE_BUFFER */
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@@ -35,7 +35,6 @@
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_manifest.h>
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#include <px4_platform_common/console_buffer.h>
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include <lib/parameters/param.h>
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@@ -102,21 +101,6 @@ int px4_platform_init()
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kernel_ioctl_initialize();
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#endif
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int ret = px4_console_buffer_init();
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if (ret < 0) {
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return ret;
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}
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// replace stdout with our buffered console
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int fd_buf = open(CONSOLE_BUFFER_DEVICE, O_WRONLY);
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if (fd_buf >= 0) {
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dup2(fd_buf, 1);
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// keep stderr(2) untouched: the buffered console will use it to output to the original console
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close(fd_buf);
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}
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#if defined(PX4_CRYPTO)
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PX4Crypto::px4_crypto_init();
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#endif
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@@ -165,7 +149,7 @@ int px4_platform_init()
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#if defined(CONFIG_FS_PROCFS)
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int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr);
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if (ret < 0) {
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if (ret_mount_procfs < 0) {
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syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret_mount_procfs);
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}
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@@ -5,7 +5,6 @@ add_library(px4_layer
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board_dma_alloc.c
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board_fat_dma_alloc.c
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tasks.cpp
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console_buffer_usr.cpp
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cdc_acm_check.cpp
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
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@@ -273,7 +273,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
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// wait for the sensor rail to reach GND
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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PX4_DEBUG("reset done, %d ms\n", ms);
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/* re-enable power */
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@@ -34,6 +34,7 @@
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#include <board_config.h>
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#include <systemlib/px4_macros.h>
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#include <px4_platform_common/spi.h>
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#include <px4_platform_common/log.h>
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#include <stdint.h>
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#include <stdbool.h>
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@@ -471,7 +472,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
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// wait for the sensor rail to reach GND
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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PX4_DEBUG("reset done, %d ms\n", ms);
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/* re-enable power */
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||||
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