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Improved reporting / logging a lot, first usable version of SD card logger

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This commit is contained in:
Lorenz Meier
2012-09-14 17:52:24 +02:00
parent fb397c8dc4
commit e5950ad498
5 changed files with 55 additions and 42 deletions
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apps/sdlog/sdlog.c
+31 -21
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@@ -195,10 +195,12 @@ int sdlog_thread_main(int argc, char *argv[]) {
errx(1, "unable to create logging folder, exiting");
/* create sensorfile */
int sensorfile;
int sensorfile = -1;
unsigned sensor_combined_bytes = 0;
int actuator_outputs_file;
int actuator_outputs_file = -1;
unsigned actuator_outputs_bytes = 0;
int actuator_controls_file = -1;
unsigned actuator_controls_bytes = 0;
FILE *gpsfile;
unsigned blackbox_file_bytes = 0;
FILE *blackbox_file;
@@ -208,18 +210,23 @@ int sdlog_thread_main(int argc, char *argv[]) {
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");
/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_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))) {
// /* 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);
// }
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
if (0 == (actuator_controls_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");
@@ -249,7 +256,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s actuators;
struct actuator_controls_s act_controls;
struct vehicle_command_s cmd;
} buf;
@@ -259,7 +266,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
int att_sub;
int spa_sub;
int act_0_sub;
int actuators_sub;
int controls0_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
@@ -299,8 +306,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.actuators_sub;
subs.controls0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -338,9 +345,10 @@ int sdlog_thread_main(int argc, char *argv[]) {
int ifds = 0;
if (poll_count % 2000 == 0) {
if (poll_count % 5000 == 0) {
fsync(sensorfile);
fsync(actuator_outputs_file_no);
fsync(actuator_outputs_file);
fsync(actuator_controls_file);
fsync(blackbox_file_no);
}
poll_count++;
@@ -349,7 +357,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
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,
blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%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);
}
@@ -360,7 +368,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
/* write out */
sensor_combined_bytes += write(sensorfile, (const char*)&buf.raw, sizeof(buf.raw));
sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
}
/* --- ATTITUDE VALUE --- */
@@ -384,18 +392,19 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* 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_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
}
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.actuators_sub, &buf.actuators);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
/* write out */
actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
}
}
}
unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes;
unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
@@ -404,7 +413,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
printf("[sdlog] exiting.\n");
close(sensorfile);
close(gpsfile);
close(actuator_outputs_file);
close(actuator_controls_file);
fclose(gpsfile);
fclose(blackbox_file);