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Merge master into linux

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This commit is contained in:
Lorenz Meier
2015-05-18 23:28:57 +02:00
parent 791d780bb8 c06ba047e2
commit e5fad077df
13 changed files with 292 additions and 97 deletions
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src/modules/sdlog2/sdlog2.c
+77 -24
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@@ -145,6 +145,19 @@ PARAM_DEFINE_INT32(SDLOG_RATE, -1);
*/
PARAM_DEFINE_INT32(SDLOG_EXT, -1);
/**
* Use timestamps only if GPS 3D fix is available
*
* A value of 1 constrains the log folder creation
* to only use the time stamp if a 3D GPS lock is
* present.
*
* @min 0
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 0);
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
@@ -164,6 +177,7 @@ static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
static bool _extended_logging = false;
static bool _gpstime_only = false;
#define MOUNTPOINT "/fs/microsd"
static const char *mountpoint = MOUNTPOINT;
@@ -273,6 +287,11 @@ static void handle_status(struct vehicle_status_s *cmd);
*/
static int create_log_dir(void);
/**
* Get the time struct from the currently preferred time source
*/
static bool get_log_time_utc_tt(struct tm *tt, bool boot_time);
/**
* Select first free log file name and open it.
*/
@@ -287,7 +306,7 @@ sdlog2_usage(const char *reason)
fprintf(stderr, "%s\n", reason);
}
warnx("usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
warnx("usage: sdlog2 {start|stop|status|on|off} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
@@ -351,6 +370,8 @@ int sdlog2_main(int argc, char *argv[])
if (!strcmp(argv[1], "on")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 1;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
@@ -360,7 +381,9 @@ int sdlog2_main(int argc, char *argv[])
if (!strcmp(argv[1], "off")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param3 = 0;
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 2;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
return 0;
@@ -370,20 +393,41 @@ int sdlog2_main(int argc, char *argv[])
return 1;
}
bool get_log_time_utc_tt(struct tm *tt, bool boot_time) {
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
time_t utc_time_sec;
if (_gpstime_only) {
utc_time_sec = gps_time / 1e6;
} else {
utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
}
if (utc_time_sec > PX4_EPOCH_SECS) {
/* strip the time elapsed since boot */
if (boot_time) {
utc_time_sec -= hrt_absolute_time() / 1e6;
}
struct tm *ttp = gmtime_r(&utc_time_sec, tt);
return (ttp != NULL);
} else {
return false;
}
}
int create_log_dir()
{
/* create dir on sdcard if needed */
uint16_t dir_number = 1; // start with dir sess001
int mkdir_ret;
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm tt;
struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
bool time_ok = get_log_time_utc_tt(&tt, true);
if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
if (log_name_timestamp && time_ok) {
int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root);
strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt);
mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
@@ -432,15 +476,11 @@ int open_log_file()
char log_file_name[32] = "";
char log_file_path[64] = "";
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm tt;
struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
bool time_ok = get_log_time_utc_tt(&tt, false);
/* start logging if we have a valid time and the time is not in the past */
if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
if (log_name_timestamp && time_ok) {
strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.px4log", &tt);
snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
@@ -485,14 +525,10 @@ int open_perf_file(const char* str)
char log_file_name[32] = "";
char log_file_path[64] = "";
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.txt */
time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm tt;
struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
bool time_ok = get_log_time_utc_tt(&tt, false);
if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
if (log_name_timestamp && time_ok) {
strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt);
snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
@@ -965,6 +1001,22 @@ int sdlog2_thread_main(int argc, char *argv[])
}
param_t log_gpstime_ph = param_find("SDLOG_GPSTIME");
if (log_gpstime_ph != PARAM_INVALID) {
int32_t param_log_gpstime;
param_get(log_gpstime_ph, &param_log_gpstime);
if (param_log_gpstime > 0) {
_gpstime_only = true;
} else if (param_log_gpstime == 0) {
_gpstime_only = false;
}
/* any other value means to ignore the parameter, so no else case */
}
if (check_free_space() != OK) {
warnx("ERR: MicroSD almost full");
@@ -1209,7 +1261,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_utc_usec;
gps_time = buf_gps_pos.time_utc_usec / 1e6;
}
}
@@ -1237,7 +1289,7 @@ int sdlog2_thread_main(int argc, char *argv[])
bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), &subs.gps_pos_sub, &buf_gps_pos);
if (gps_pos_updated && log_name_timestamp) {
gps_time = buf_gps_pos.time_utc_usec;
gps_time = buf_gps_pos.time_utc_usec / 1e6;
}
if (!logging_enabled) {
@@ -1878,8 +1930,9 @@ int sdlog2_thread_main(int argc, char *argv[])
void sdlog2_status()
{
warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
warnx("time: gps: %u seconds", (unsigned)gps_time);
if (!logging_enabled) {
warnx("standing by");
warnx("not logging");
} else {
float kibibytes = log_bytes_written / 1024.0f;
@@ -1982,7 +2035,7 @@ void handle_command(struct vehicle_command_s *cmd)
if (param == 1) {
sdlog2_start_log();
} else if (param == -1) {
} else if (param == 2) {
sdlog2_stop_log();
} else {
// Silently ignore non-matching command values, as they could be for params.