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logging: publish a message for PX4_{WARN,ERR} & store them to the ulog file

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- ulog file message rate limited to 50Hz
- queuing with size 2
- this replaces the mavlink log message in the ulog
  (but the mavlink warnings & errors still go to the ulog)
This commit is contained in:
Beat Küng
2016-08-12 11:11:11 +02:00
parent eae1585e38
commit df53fb0fde
7 changed files with 74 additions and 8 deletions
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src/modules/logger/logger.cpp
+8 -8
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@@ -43,7 +43,7 @@
#include <uORB/uORB.h>
#include <uORB/uORBTopics.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/log_message.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_gps_position.h>
@@ -584,7 +584,7 @@ void Logger::run()
uORB::Subscription<vehicle_status_s> vehicle_status_sub(ORB_ID(vehicle_status));
uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
uORB::Subscription<mavlink_log_s> mavlink_log_sub(ORB_ID(mavlink_log));
uORB::Subscription<log_message_s> log_message_sub(ORB_ID(log_message), 20);
int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/fs/microsd/etc/logging/logger_topics.txt");
@@ -735,10 +735,10 @@ void Logger::run()
}
}
//check for new mavlink log message
if (mavlink_log_sub.check_updated()) {
mavlink_log_sub.update();
const char *message = (const char *)mavlink_log_sub.get().text;
//check for new logging message(s)
if (log_message_sub.check_updated()) {
log_message_sub.update();
const char *message = (const char *)log_message_sub.get().text;
int message_len = strlen(message);
if (message_len > 0) {
@@ -747,8 +747,8 @@ void Logger::run()
_msg_buffer[0] = (uint8_t)write_msg_size;
_msg_buffer[1] = (uint8_t)(write_msg_size >> 8);
_msg_buffer[2] = static_cast<uint8_t>(ULogMessageType::LOGGING);
_msg_buffer[3] = mavlink_log_sub.get().severity + '0';
memcpy(_msg_buffer + 4, &mavlink_log_sub.get().timestamp, sizeof(ulog_message_logging_s::timestamp));
_msg_buffer[3] = log_message_sub.get().severity + '0';
memcpy(_msg_buffer + 4, &log_message_sub.get().timestamp, sizeof(ulog_message_logging_s::timestamp));
strncpy((char *)(_msg_buffer + 12), message, sizeof(ulog_message_logging_s::message));
write(_msg_buffer, write_msg_size + ULOG_MSG_HEADER_LEN);