From f1e0310df28cee673b68c2e58e0eb6cf4a3e2949 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 13 Jul 2018 14:20:36 +0100 Subject: [PATCH] fix rebase --- src/modules/sdlog2/sdlog2.c | 2256 ----------------------------------- 1 file changed, 2256 deletions(-) delete mode 100644 src/modules/sdlog2/sdlog2.c diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c deleted file mode 100644 index 98d57f1762..0000000000 --- a/src/modules/sdlog2/sdlog2.c +++ /dev/null @@ -1,2256 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2017 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 sdlog2.c - * - * Simple SD logger for flight data. Buffers new sensor values and - * does the heavy SD I/O in a low-priority worker thread. - * - * @author Lorenz Meier - * @author Anton Babushkin - * @author Ban Siesta - * @author Julian Oes - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#ifdef __PX4_DARWIN -#include -#include -#else -#include -#endif -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "logbuffer.h" -#include "sdlog2_format.h" -#include "sdlog2_messages.h" - -#define PX4_EPOCH_SECS 1234567890L - -#define LOGBUFFER_WRITE_AND_COUNT(_msg) pthread_mutex_lock(&logbuffer_mutex); \ - if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ - log_msgs_written++; \ - } else { \ - log_msgs_skipped++; \ - } \ - pthread_mutex_unlock(&logbuffer_mutex); - -#define SDLOG_MIN(X,Y) ((X) < (Y) ? (X) : (Y)) - -static bool main_thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */ -static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */ -static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */ -static const int LOG_BUFFER_SIZE_DEFAULT = 8192; - -#if defined __PX4_POSIX -static const int MAX_WRITE_CHUNK = 2048; -static const int MIN_BYTES_TO_WRITE = 512; -#else -static const int MAX_WRITE_CHUNK = 512; -static const int MIN_BYTES_TO_WRITE = 512; -#endif - -static bool _extended_logging = false; -static bool _gpstime_only = false; -static int32_t _utc_offset = 0; - -#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) -#define MOUNTPOINT PX4_ROOTFSDIR"/fs/microsd" -#else -#define MOUNTPOINT "/root" -#endif -static const char *mountpoint = MOUNTPOINT; -static const char *log_root = MOUNTPOINT "/log"; -static orb_advert_t mavlink_log_pub = NULL; -struct logbuffer_s lb; - -/* mutex / condition to synchronize threads */ -static pthread_mutex_t logbuffer_mutex; -static pthread_cond_t logbuffer_cond; - -#ifdef __PX4_NUTTX -#define LOG_BASE_PATH_LEN 64 -#else -#define LOG_BASE_PATH_LEN 256 -#endif - -static char log_dir[LOG_BASE_PATH_LEN]; - -/* statistics counters */ -static uint64_t start_time = 0; -static unsigned long log_bytes_written = 0; -static unsigned long last_checked_bytes_written = 0; -static unsigned long log_msgs_written = 0; -static unsigned long log_msgs_skipped = 0; - -/* GPS time, used for log files naming */ -static uint64_t gps_time_sec = 0; -static bool has_gps_3d_fix = false; - -/* current state of logging */ -static bool logging_enabled = false; -/* use date/time for naming directories and files (-t option) */ -static bool log_name_timestamp = false; - -/* helper flag to track system state changes */ -static bool flag_system_armed = false; - -/* flag if warning about MicroSD card being almost full has already been sent */ -static bool space_warning_sent = false; - -static pthread_t logwriter_pthread = 0; -static pthread_attr_t logwriter_attr; - -static perf_counter_t perf_write; - -/* Keep track if we've already created a folder named sessXXX because - * we don't want to create yet another one. */ -static bool sess_folder_created = false; - -/** - * Log buffer writing thread. Open and close file here. - */ -static void *logwriter_thread(void *arg); - -/** - * SD log management function. - */ -__EXPORT int sdlog2_main(int argc, char *argv[]); - -static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer); -static bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer); - -/** - * Mainloop of sd log deamon. - */ -int sdlog2_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void sdlog2_usage(const char *reason); - -/** - * Print the current status. - */ -static void sdlog2_status(void); - -/** - * Start logging: create new file and start log writer thread. - */ -static void sdlog2_start_log(void); - -/** - * Stop logging: stop log writer thread and close log file. - */ -static void sdlog2_stop_log(void); - -/** - * Write a header to log file: list of message formats. - */ -static int write_formats(int fd); - -/** - * Write version message to log file. - */ -static int write_version(int fd); - -/** - * Write parameters to log file. - */ -static int write_parameters(int fd); - -static bool file_exist(const char *filename); - -/** - * Check if there is still free space available - */ -static int check_free_space(void); - -static void handle_command(struct vehicle_command_s *cmd); - -static void handle_status(struct vehicle_status_s *cmd); - -/** - * Create dir for current logging session. Store dir name in 'log_dir'. - */ -static int create_log_dir(void); - -/** - * Get the time struct from the currently preferred time source - */ -static bool get_log_time_tt(struct tm *tt, bool boot_time); - -/** - * Select first free log file name and open it. - */ -static int open_log_file(void); - -static int open_perf_file(const char* str); - -static void -sdlog2_usage(const char *reason) -{ - if (reason) { - fprintf(stderr, "%s\n", reason); - } - - PX4_WARN("usage: sdlog2 {start|stop|status|on|off} [-r ] [-b ] -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" - "\t-a\tLog only when armed (can be still overriden by command)\n" - "\t-t\tUse date/time for naming log directories and files\n" - "\t-x\tExtended logging"); -} - -/** - * The logger deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_spawn(). - */ -int sdlog2_main(int argc, char *argv[]) -{ - if (argc < 2) { - sdlog2_usage("missing command"); - return 1; - } - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - PX4_WARN("already running"); - /* this is not an error */ - return 0; - } - - // get sdlog priority boost parameter. This can be used to avoid message drops - // in the log file. However, it considered to be used only for developers. - param_t prio_boost_handle = param_find("SDLOG_PRIO_BOOST"); - int prio_boost = 0; - param_get(prio_boost_handle, &prio_boost); - int task_priority = SCHED_PRIORITY_DEFAULT - 30; - - switch(prio_boost) { - case 1: - task_priority = SCHED_PRIORITY_DEFAULT; - break; - case 2: - task_priority = SCHED_PRIORITY_DEFAULT + (SCHED_PRIORITY_MAX - SCHED_PRIORITY_DEFAULT) / 2; - break; - case 3: - task_priority = SCHED_PRIORITY_MAX; - break; - default: - // use default priority already set above - break; - } - - main_thread_should_exit = false; - deamon_task = px4_task_spawn_cmd("sdlog2", - SCHED_DEFAULT, - task_priority, - 3400, - sdlog2_thread_main, - (char * const *)argv); - - /* wait for the task to launch */ - unsigned const max_wait_us = 1000000; - unsigned const max_wait_steps = 2000; - - unsigned i; - for (i = 0; i < max_wait_steps; i++) { - usleep(max_wait_us / max_wait_steps); - if (thread_running) { - break; - } - } - - return !(i < max_wait_steps); - } - - if (!strcmp(argv[1], "stop")) { - if (!thread_running) { - PX4_WARN("not started"); - } - - main_thread_should_exit = true; - return 0; - } - - if (!thread_running) { - PX4_WARN("not started\n"); - return 1; - } - - if (!strcmp(argv[1], "status")) { - sdlog2_status(); - return 0; - } - - if (!strncmp(argv[1], "on", 2)) { - struct vehicle_command_s cmd; - - memset(&cmd, 0, sizeof(cmd)); - cmd.command = VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE; - cmd.param1 = -1; - cmd.param2 = -1; - cmd.param3 = 1; - cmd.timestamp = hrt_absolute_time(); - orb_advertise(ORB_ID(vehicle_command), &cmd); - return 0; - } - - if (!strcmp(argv[1], "off")) { - struct vehicle_command_s cmd; - - memset(&cmd, 0, sizeof(cmd)); - cmd.command = VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE; - cmd.param1 = -1; - cmd.param2 = -1; - cmd.param3 = 2; - cmd.timestamp = hrt_absolute_time(); - orb_advertise(ORB_ID(vehicle_command), &cmd); - return 0; - } - - sdlog2_usage("unrecognized command"); - return 1; -} - -bool get_log_time_tt(struct tm *tt, bool boot_time) { - struct timespec ts; - px4_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 = 0; - - if (_gpstime_only && has_gps_3d_fix) { - utc_time_sec = gps_time_sec; - } 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; - } - - /* apply utc offset (min, not hour) */ - utc_time_sec += _utc_offset*60; - - 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 tm tt; - bool time_ok = get_log_time_tt(&tt, true); - - if (log_name_timestamp && time_ok) { - int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root); - if (n >= sizeof(log_dir)) { - PX4_ERR("log path too long"); - return -1; - } - strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt); - mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - - if ((mkdir_ret != OK) && (errno != EEXIST)) { - warn("failed creating new dir: %s", log_dir); - return -1; - } - - } else { - /* Look for the next dir that does not exist. - * However, if we've already crated a sessXXX folder in this session - * let's re-use it. */ - while (dir_number <= MAX_NO_LOGFOLDER && !sess_folder_created) { - /* format log dir: e.g. /fs/microsd/sess001 */ - int n = snprintf(log_dir, sizeof(log_dir), "%s/sess%03u", log_root, dir_number); - if (n >= sizeof(log_dir)) { - PX4_ERR("log path too long"); - return -1; - } - - mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - - if (mkdir_ret == 0) { - sess_folder_created = true; - break; - - } else if (errno != EEXIST) { - warn("failed creating new dir: %s", log_dir); - return -1; - } - - /* dir exists already */ - dir_number++; - } - - if (dir_number >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - PX4_WARN("all %d possible dirs exist already", MAX_NO_LOGFOLDER); - return -1; - } - } - - /* print logging path, important to find log file later */ - mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] %s", log_dir); - - return 0; -} - -int open_log_file() -{ - /* string to hold the path to the log */ - char log_file_name[64] = ""; - char log_file_path[sizeof(log_file_name) + LOG_BASE_PATH_LEN] = ""; - - struct tm tt; - bool time_ok = get_log_time_tt(&tt, false); - - /* start logging if we have a valid time and the time is not in the past */ - 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); - - } else { - uint16_t file_number = 1; // start with file log001 - - /* look for the next file that does not exist */ - while (file_number <= MAX_NO_LOGFILE) { - /* format log file path: e.g. /fs/microsd/sess001/log001.px4log */ - snprintf(log_file_name, sizeof(log_file_name), "log%03u.px4log", file_number); - snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); - - if (!file_exist(log_file_path)) { - break; - } - - file_number++; - } - - if (file_number > MAX_NO_LOGFILE) { - /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE); - return -1; - } - } - -#ifdef __PX4_NUTTX - int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); -#else - int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC, PX4_O_MODE_666); -#endif - - if (fd < 0) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name); - - } else { - mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] recording: %s", log_file_name); - } - - return fd; -} - -int open_perf_file(const char* str) -{ - /* string to hold the path to the log */ - char log_file_name[64] = ""; - char log_file_path[sizeof(log_file_name) + LOG_BASE_PATH_LEN] = ""; - - struct tm tt; - bool time_ok = get_log_time_tt(&tt, false); - - if (log_name_timestamp && time_ok) { - strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt); - if (snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name)) { - return -1; - } - - } else { - unsigned file_number = 1; // start with file log001 - - /* look for the next file that does not exist */ - while (file_number <= MAX_NO_LOGFILE) { - /* format log file path: e.g. /fs/microsd/sess001/log001.txt */ - snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number); - if (snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name) >= sizeof(log_file_path)) { - return -1; - } - - if (!file_exist(log_file_path)) { - break; - } - - file_number++; - } - - if (file_number > MAX_NO_LOGFILE) { - /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE); - return -1; - } - } - -#ifdef __PX4_NUTTX - int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); -#else - int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC, 0666); -#endif - - if (fd < 0) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name); - - } - - return fd; -} - -static void *logwriter_thread(void *arg) -{ - /* set name */ - px4_prctl(PR_SET_NAME, "sdlog2_writer", 0); - - int log_fd = open_log_file(); - - if (log_fd < 0) { - return NULL; - } - - struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; - - /* write log messages formats, version and parameters */ - log_bytes_written += write_formats(log_fd); - - log_bytes_written += write_version(log_fd); - - log_bytes_written += write_parameters(log_fd); - - fsync(log_fd); - - int poll_count = 0; - - void *read_ptr; - - int n = 0; - - bool should_wait = false; - - bool is_part = false; - - while (true) { - /* make sure threads are synchronized */ - pthread_mutex_lock(&logbuffer_mutex); - - /* update read pointer if needed */ - if (n > 0) { - logbuffer_mark_read(&lb, n); - } - - /* only wait if no data is available to process */ - if (should_wait && !logwriter_should_exit) { - /* blocking wait for new data at this line */ - pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex); - } - - /* only get pointer to thread-safe data, do heavy I/O a few lines down */ - int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); - - /* continue */ - pthread_mutex_unlock(&logbuffer_mutex); - - if (available > 0) { - - /* do heavy IO here */ - if (available > MAX_WRITE_CHUNK) { - n = MAX_WRITE_CHUNK; - - } else { - n = available; - } - - perf_begin(perf_write); - n = write(log_fd, read_ptr, n); - perf_end(perf_write); - - should_wait = (n == available) && !is_part; - - if (n < 0) { - main_thread_should_exit = true; - warn("error writing log file"); - break; - } - - if (n > 0) { - log_bytes_written += n; - } - - } else { - n = 0; - - /* exit only with empty buffer */ - if (main_thread_should_exit || logwriter_should_exit) { - break; - } - - should_wait = true; - } - - if (++poll_count == 10) { - fsync(log_fd); - poll_count = 0; - - } - - if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) { - /* check if space is available, if not stop everything */ - if (check_free_space() != OK) { - logwriter_should_exit = true; - main_thread_should_exit = true; - } - last_checked_bytes_written = log_bytes_written; - } - } - - fsync(log_fd); - close(log_fd); - - return NULL; -} - -void sdlog2_start_log() -{ - if (logging_enabled) { - return; - } - - /* create log dir if needed */ - if (create_log_dir() != 0) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir"); - return; - } - - /* initialize statistics counter */ - log_bytes_written = 0; - start_time = hrt_absolute_time(); - log_msgs_written = 0; - log_msgs_skipped = 0; - - /* initialize log buffer emptying thread */ - pthread_attr_init(&logwriter_attr); - -#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) - struct sched_param param; - (void)pthread_attr_getschedparam(&logwriter_attr, ¶m); - /* low priority, as this is expensive disk I/O. */ - param.sched_priority = SCHED_PRIORITY_DEFAULT - 5; - if (pthread_attr_setschedparam(&logwriter_attr, ¶m)) { - PX4_WARN("sdlog2: failed setting sched params"); - } -#endif - - pthread_attr_setstacksize(&logwriter_attr, PX4_STACK_ADJUSTED(2048)); - - logwriter_should_exit = false; - - /* allocate write performance counter */ - perf_write = perf_alloc(PC_ELAPSED, "sd write"); - - /* start log buffer emptying thread */ - if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) { - PX4_WARN("error creating logwriter thread"); - } - - /* write all performance counters */ - hrt_abstime curr_time = hrt_absolute_time(); - struct print_load_s load; - int perf_fd = open_perf_file("preflight"); - init_print_load_s(curr_time, &load); - print_load(curr_time, perf_fd, &load); - dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n"); - perf_print_all(perf_fd); - dprintf(perf_fd, "\nLOAD PRE-FLIGHT\n\n"); - usleep(500 * 1000); - print_load(hrt_absolute_time(), perf_fd, &load); - close(perf_fd); - - /* reset performance counters to get in-flight min and max values in post flight log */ - perf_reset_all(); - - logging_enabled = true; -} - -void sdlog2_stop_log() -{ - if (!logging_enabled) { - return; - } - - /* disabling the logging will trigger the skipped count to increase, - * so we take a local copy before interrupting the disk I/O. - */ - unsigned long skipped_count = log_msgs_skipped; - - logging_enabled = false; - - /* wake up write thread one last time */ - pthread_mutex_lock(&logbuffer_mutex); - logwriter_should_exit = true; - pthread_cond_signal(&logbuffer_cond); - /* unlock, now the writer thread may return */ - pthread_mutex_unlock(&logbuffer_mutex); - - /* wait for write thread to return */ - int ret; - - if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) { - PX4_WARN("error joining logwriter thread: %i", ret); - } - - logwriter_pthread = 0; - pthread_attr_destroy(&logwriter_attr); - - /* write all performance counters */ - int perf_fd = open_perf_file("postflight"); - hrt_abstime curr_time = hrt_absolute_time(); - dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n"); - perf_print_all(perf_fd); - struct print_load_s load; - dprintf(perf_fd, "\nLOAD POST-FLIGHT\n\n"); - init_print_load_s(curr_time, &load); - print_load(curr_time, perf_fd, &load); - sleep(1); - print_load(hrt_absolute_time(), perf_fd, &load); - close(perf_fd); - - /* free log writer performance counter */ - perf_free(perf_write); - - /* reset the logbuffer */ - logbuffer_reset(&lb); - - mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] stopped (%lu drops)", skipped_count); - - sdlog2_status(); -} - -int write_formats(int fd) -{ - /* construct message format packet */ - struct { - LOG_PACKET_HEADER; - struct log_format_s body; - } log_msg_format = { - LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG), - }; - - int written = 0; - - /* fill message format packet for each format and write it */ - for (unsigned i = 0; i < log_formats_num; i++) { - log_msg_format.body = log_formats[i]; - written += write(fd, &log_msg_format, sizeof(log_msg_format)); - } - - return written; -} - -int write_version(int fd) -{ - /* construct version message */ - struct { - LOG_PACKET_HEADER; - struct log_VER_s body; - } log_msg_VER = { - LOG_PACKET_HEADER_INIT(LOG_VER_MSG), - }; - - /* fill version message and write it */ - strncpy(log_msg_VER.body.fw_git, px4_firmware_version_string(), sizeof(log_msg_VER.body.fw_git)-1); - log_msg_VER.body.fw_git[sizeof(log_msg_VER.body.fw_git)-1] = '\0'; - strncpy(log_msg_VER.body.arch, px4_board_name(), sizeof(log_msg_VER.body.arch)-1); - log_msg_VER.body.arch[sizeof(log_msg_VER.body.arch) - 1] = '\0'; - return write(fd, &log_msg_VER, sizeof(log_msg_VER)); -} - -int write_parameters(int fd) -{ - /* construct parameter message */ - struct { - LOG_PACKET_HEADER; - struct log_PARM_s body; - } log_msg_PARM = { - LOG_PACKET_HEADER_INIT(LOG_PARM_MSG), - }; - - int written = 0; - param_t params_cnt = param_count(); - - for (param_t param = 0; param < params_cnt; param++) { - /* fill parameter message and write it */ - strncpy(log_msg_PARM.body.name, param_name(param), sizeof(log_msg_PARM.body.name)); - log_msg_PARM.body.name[sizeof(log_msg_PARM.body.name) - 1] = '\0'; - float value = NAN; - - switch (param_type(param)) { - case PARAM_TYPE_INT32: { - int32_t i; - param_get(param, &i); - value = i; // cast integer to float - break; - } - - case PARAM_TYPE_FLOAT: - param_get(param, &value); - break; - - default: - break; - } - - log_msg_PARM.body.value = value; - written += write(fd, &log_msg_PARM, sizeof(log_msg_PARM)); - } - - return written; -} - -bool copy_if_updated(orb_id_t topic, int *handle, void *buffer) -{ - return copy_if_updated_multi(topic, 0, handle, buffer); -} - -bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer) -{ - bool updated = false; - - if (*handle < 0) { - if (OK == orb_exists(topic, multi_instance)) - { - *handle = orb_subscribe_multi(topic, multi_instance); - /* copy first data */ - if (*handle >= 0) { - - /* but only if it has really been updated */ - orb_check(*handle, &updated); - - if (updated) { - orb_copy(topic, *handle, buffer); - } - } - } - } else { - orb_check(*handle, &updated); - - if (updated) { - orb_copy(topic, *handle, buffer); - } - } - - return updated; -} - -int sdlog2_thread_main(int argc, char *argv[]) -{ - /* default log rate: 50 Hz */ - int32_t log_rate = 50; - int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; - logging_enabled = false; - /* enable logging on start (-e option) */ - bool log_on_start = false; - /* enable logging when armed (-a option) */ - bool log_when_armed = false; - log_name_timestamp = false; - - flag_system_armed = false; - -#ifdef __PX4_NUTTX - /* the NuttX optarg handler does not - * ignore argv[0] like the POSIX handler - * does, nor does it deal with non-flag - * verbs well. So we Remove the application - * name and the verb. - */ - argc -= 2; - argv += 2; -#endif - - int ch; - - /* don't exit from getopt loop to leave getopt global variables in consistent state, - * set error flag instead */ - bool err_flag = false; - - int myoptind = 1; - const char *myoptarg = NULL; - while ((ch = px4_getopt(argc, argv, "r:b:eatx", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'r': { - unsigned long r = strtoul(myoptarg, NULL, 10); - - if (r <= 0) { - r = 1; - } - - log_rate = r; - } - break; - - case 'b': { - unsigned long s = strtoul(myoptarg, NULL, 10); - - if (s < 1) { - s = 1; - } - - log_buffer_size = 1024 * s; - } - break; - - case 'e': - log_on_start = true; - log_when_armed = true; - break; - - case 'a': - log_when_armed = true; - break; - - case 't': - log_name_timestamp = true; - break; - - case 'x': - _extended_logging = true; - break; - - case '?': - if (optopt == 'c') { - PX4_WARN("option -%c requires an argument", optopt); - - } else if (isprint(optopt)) { - PX4_WARN("unknown option `-%c'", optopt); - - } else { - PX4_WARN("unknown option character `\\x%x'", optopt); - } - err_flag = true; - break; - - default: - PX4_WARN("unrecognized flag"); - err_flag = true; - break; - } - } - - if (err_flag) { - sdlog2_usage(NULL); - } - - gps_time_sec = 0; - - /* interpret logging params */ - int32_t param_log_rate = -1; - param_t log_rate_ph = param_find("SDLOG_RATE"); - - if (log_rate_ph != PARAM_INVALID) { - param_get(log_rate_ph, ¶m_log_rate); - - if (param_log_rate > 0) { - - /* we can't do more than ~ 500 Hz, even with a massive buffer */ - if (param_log_rate > 250) { - param_log_rate = 250; - } - - } else if (param_log_rate == 0) { - /* we need at minimum 10 Hz to be able to see anything */ - param_log_rate = 10; - } - } - - // if parameter was provided use it, if not use command line argument - log_rate = param_log_rate > -1 ? param_log_rate : log_rate; - - param_t log_ext_ph = param_find("SDLOG_EXT"); - - if (log_ext_ph != PARAM_INVALID) { - - int32_t param_log_extended; - param_get(log_ext_ph, ¶m_log_extended); - - if (param_log_extended > 0) { - _extended_logging = true; - } else if (param_log_extended == 0) { - _extended_logging = false; - } - /* any other value means to ignore the parameter, so no else case */ - - } - - 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, ¶m_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 */ - - } - - param_t log_utc_offset = param_find("SDLOG_UTC_OFFSET"); - - if ( log_utc_offset != PARAM_INVALID ) { - int32_t param_utc_offset; - param_get(log_utc_offset, ¶m_utc_offset); - _utc_offset = param_utc_offset; - } - - if (check_free_space() != OK) { - return 1; - } - - - /* create log root dir */ - int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); - - if (mkdir_ret != 0 && errno != EEXIST) { - warn("ERR: failed creating log dir: %s", log_root); - return 1; - } - - /* initialize log buffer with specified size */ - PX4_DEBUG("log buffer size: %i bytes", log_buffer_size); - - if (OK != logbuffer_init(&lb, log_buffer_size)) { - PX4_WARN("can't allocate log buffer, exiting"); - return 1; - } - - struct vehicle_status_s buf_status; - memset(&buf_status, 0, sizeof(buf_status)); - - struct vehicle_gps_position_s buf_gps_pos; - memset(&buf_gps_pos, 0, sizeof(buf_gps_pos)); - - struct vehicle_command_s buf_cmd; - memset(&buf_cmd, 0, sizeof(buf_cmd)); - - struct commander_state_s buf_commander_state; - memset(&buf_commander_state, 0, sizeof(buf_commander_state)); - - /* There are different log types possible on different platforms. */ - enum { - LOG_TYPE_NORMAL, - LOG_TYPE_ALL - } log_type; - - log_type = LOG_TYPE_NORMAL; - - /* warning! using union here to save memory, elements should be used separately! */ - union { - struct vehicle_command_s cmd; - struct sensor_combined_s sensor; - struct vehicle_attitude_s att; - struct vehicle_attitude_setpoint_s att_sp; - struct vehicle_rates_setpoint_s rates_sp; - struct actuator_outputs_s act_outputs; - struct actuator_controls_s act_controls; - struct actuator_controls_s act_controls1; - struct vehicle_local_position_s local_pos; - struct vehicle_local_position_setpoint_s local_pos_sp; - struct vehicle_global_position_s global_pos; - struct position_setpoint_triplet_s triplet; - struct vehicle_odometry_s mocap_odom; - struct vehicle_odometry_s visual_odom; - struct optical_flow_s flow; - struct rc_channels_s rc; - struct differential_pressure_s diff_pres; - struct airspeed_s airspeed; - struct esc_status_s esc; - struct battery_status_s battery; - struct telemetry_status_s telemetry; - struct distance_sensor_s distance_sensor; - struct estimator_status_s estimator_status; - struct tecs_status_s tecs_status; - struct system_power_s system_power; - struct servorail_status_s servorail_status; - struct satellite_info_s sat_info; - struct wind_estimate_s wind_estimate; - struct vtol_vehicle_status_s vtol_status; - struct rate_ctrl_status_s rate_ctrl_status; - struct ekf2_innovations_s innovations; - struct camera_trigger_s camera_trigger; - struct vehicle_land_detected_s land_detected; - struct cpuload_s cpuload; - struct vehicle_gps_position_s dual_gps_pos; - struct task_stack_info_s task_stack_info; - } buf; - - memset(&buf, 0, sizeof(buf)); - - /* log message buffer: header + body */ -#pragma pack(push, 1) - struct { - LOG_PACKET_HEADER; - union { - struct log_TIME_s log_TIME; - struct log_ATT_s log_ATT; - struct log_ATSP_s log_ATSP; - struct log_IMU_s log_IMU; - struct log_SENS_s log_SENS; - struct log_LPOS_s log_LPOS; - struct log_LPSP_s log_LPSP; - struct log_GPS_s log_GPS; - struct log_ATTC_s log_ATTC; - struct log_STAT_s log_STAT; - struct log_VTOL_s log_VTOL; - struct log_RC_s log_RC; - struct log_OUT_s log_OUT; - struct log_AIRS_s log_AIRS; - struct log_ARSP_s log_ARSP; - struct log_FLOW_s log_FLOW; - struct log_GPOS_s log_GPOS; - struct log_GPSP_s log_GPSP; - struct log_ESC_s log_ESC; - struct log_GVSP_s log_GVSP; - struct log_BATT_s log_BATT; - struct log_DIST_s log_DIST; - struct log_TEL_s log_TEL; - struct log_EST0_s log_EST0; - struct log_EST1_s log_EST1; - struct log_EST2_s log_EST2; - struct log_EST3_s log_EST3; - struct log_PWR_s log_PWR; - struct log_MOCP_s log_MOCP; - struct log_VISN_s log_VISN; - struct log_GS0A_s log_GS0A; - struct log_GS0B_s log_GS0B; - struct log_GS1A_s log_GS1A; - struct log_GS1B_s log_GS1B; - struct log_TECS_s log_TECS; - struct log_WIND_s log_WIND; - struct log_ENCD_s log_ENCD; - struct log_TSYN_s log_TSYN; - struct log_MACS_s log_MACS; - struct log_CTS_s log_CTS; - struct log_EST4_s log_INO1; - struct log_EST5_s log_INO2; - struct log_CAMT_s log_CAMT; - struct log_EST6_s log_INO3; - struct log_LAND_s log_LAND; - struct log_LOAD_s log_LOAD; - struct log_DPRS_s log_DPRS; - struct log_STCK_s log_STCK; - } body; - } log_msg = { - LOG_PACKET_HEADER_INIT(0) - }; -#pragma pack(pop) - memset(&log_msg.body, 0, sizeof(log_msg.body)); - - struct { - int cmd_sub; - int status_sub; - int vtol_status_sub; - int sensor_sub; - int att_sub; - int att_sp_sub; - int rates_sp_sub; - int act_outputs_sub; - int act_outputs_1_sub; - int act_controls_sub; - int act_controls_1_sub; - int local_pos_sub; - int local_pos_sp_sub; - int global_pos_sub; - int triplet_sub; - int gps_pos_sub[2]; - int sat_info_sub; - int mocap_odom_sub; - int visual_odom_sub; - int flow_sub; - int rc_sub; - int airspeed_sub; - int esc_sub; - int battery_sub; - int telemetry_subs[ORB_MULTI_MAX_INSTANCES]; - int distance_sensor_sub; - int estimator_status_sub; - int tecs_status_sub; - int system_power_sub; - int servorail_status_sub; - int wind_sub; - int tsync_sub; - int rate_ctrl_status_sub; - int innov_sub; - int cam_trig_sub; - int land_detected_sub; - int commander_state_sub; - int cpuload_sub; - int diff_pres_sub; - int task_stack_info_sub; - } subs; - - subs.cmd_sub = -1; - subs.status_sub = -1; - subs.vtol_status_sub = -1; - subs.gps_pos_sub[0] = -1; - subs.gps_pos_sub[1] = -1; - subs.sensor_sub = -1; - subs.att_sub = -1; - subs.att_sp_sub = -1; - subs.rates_sp_sub = -1; - subs.act_outputs_sub = -1; - subs.act_outputs_1_sub = -1; - subs.act_controls_sub = -1; - subs.act_controls_1_sub = -1; - subs.local_pos_sub = -1; - subs.local_pos_sp_sub = -1; - subs.global_pos_sub = -1; - subs.triplet_sub = -1; - subs.mocap_odom_sub = -1; - subs.visual_odom_sub = -1; - subs.flow_sub = -1; - subs.rc_sub = -1; - subs.airspeed_sub = -1; - subs.esc_sub = -1; - subs.battery_sub = -1; - subs.distance_sensor_sub = -1; - subs.estimator_status_sub = -1; - subs.tecs_status_sub = -1; - subs.system_power_sub = -1; - subs.servorail_status_sub = -1; - subs.wind_sub = -1; - subs.tsync_sub = -1; - subs.rate_ctrl_status_sub = -1; - subs.innov_sub = -1; - subs.cam_trig_sub = -1; - subs.land_detected_sub = -1; - subs.commander_state_sub = -1; - subs.cpuload_sub = -1; - subs.diff_pres_sub = -1; - subs.task_stack_info_sub = -1; - - /* add new topics HERE */ - - for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { - subs.telemetry_subs[i] = -1; - } - - subs.sat_info_sub = -1; - - /* initialize thread synchronization */ - pthread_mutex_init(&logbuffer_mutex, NULL); - pthread_cond_init(&logbuffer_cond, NULL); - - /* track changes in sensor_combined topic */ - hrt_abstime gyro_timestamp = 0; - hrt_abstime accelerometer_timestamp = 0; - //hrt_abstime magnetometer_timestamp = 0; - //hrt_abstime barometer_timestamp = 0; - - /* initialize calculated mean SNR */ - float snr_mean = 0.0f; - - /* enable logging on start if needed */ - if (log_on_start) { - /* check GPS topic to get GPS time */ - if (log_name_timestamp) { - if (!copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos)) { - gps_time_sec = buf_gps_pos.time_utc_usec / 1e6; - } - } - - sdlog2_start_log(); - } - - /* running, report */ - thread_running = true; - - // wakeup source - px4_pollfd_struct_t fds[1]; - unsigned px4_pollfd_len = 0; - - int poll_counter = 0; - - int poll_to_logging_factor = 1; - - switch (log_type) { - case LOG_TYPE_ALL: - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[0].fd = subs.sensor_sub; - fds[0].events = POLLIN; - - px4_pollfd_len = 1; - - poll_to_logging_factor = 1; - - break; - - case LOG_TYPE_NORMAL: - - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[0].fd = subs.sensor_sub; - fds[0].events = POLLIN; - - px4_pollfd_len = 1; - - // TODO Remove hardcoded rate! - poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate); - - break; - } - - if (poll_to_logging_factor < 1) { - poll_to_logging_factor = 1; - } - - - while (!main_thread_should_exit) { - - /* Check below's topics first even if logging is not enabled. - * We need to do this because should only poll further below if we're - * actually going to orb_copy the data after the poll. */ - - /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ - if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf_cmd)) { - handle_command(&buf_cmd); - } - - /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ - bool status_updated = copy_if_updated(ORB_ID(vehicle_status), &subs.status_sub, &buf_status); - - if (status_updated) { - if (log_when_armed) { - handle_status(&buf_status); - } - } - - /* --- GPS POSITION - LOG MANAGEMENT --- */ - bool gps_pos_updated = copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos); - - if (gps_pos_updated && log_name_timestamp) { - gps_time_sec = buf_gps_pos.time_utc_usec / 1e6; - has_gps_3d_fix = buf_gps_pos.fix_type >= 3; - } - - if (!logging_enabled) { - usleep(50000); - continue; - } - - // wait for up to 100ms for data - int pret = px4_poll(&fds[0], px4_pollfd_len, 100); - - // timed out - periodic check for _task_should_exit - if (pret == 0) { - continue; - } - - // this is undesirable but not much we can do - might want to flag unhappy status - if (pret < 0) { - PX4_WARN("poll error %d, %d", pret, errno); - // sleep a bit before next try - usleep(100000); - continue; - } - - if ((poll_counter+1) >= poll_to_logging_factor) { - poll_counter = 0; - } else { - - /* In this case, we still need to do orb_copy, otherwise we'll stall. */ - switch (log_type) { - case LOG_TYPE_ALL: - if (fds[0].revents & POLLIN) { - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); - } - break; - - case LOG_TYPE_NORMAL: - if (fds[0].revents & POLLIN) { - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); - } - break; - } - poll_counter++; - continue; - } - - /* write time stamp message */ - log_msg.msg_type = LOG_TIME_MSG; - log_msg.body.log_TIME.t = hrt_absolute_time(); - LOGBUFFER_WRITE_AND_COUNT(TIME); - - /* --- COMMANDER INTERNAL STATE --- */ - copy_if_updated(ORB_ID(commander_state), &subs.commander_state_sub, - &buf_commander_state); - - /* --- VEHICLE STATUS --- */ - if (status_updated) { - log_msg.msg_type = LOG_STAT_MSG; - log_msg.body.log_STAT.main_state = buf_commander_state.main_state; - log_msg.body.log_STAT.nav_state = buf_status.nav_state; - log_msg.body.log_STAT.arming_state = buf_status.arming_state; - log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe; - log_msg.body.log_STAT.is_rot_wing = (uint8_t)buf_status.is_rotary_wing; - LOGBUFFER_WRITE_AND_COUNT(STAT); - } - - if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_NORMAL) { - - if (fds[0].revents & POLLIN) { - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); - - bool write_IMU = false; - bool write_SENS = false; - - if (buf.sensor.timestamp != gyro_timestamp) { - gyro_timestamp = buf.sensor.timestamp; - write_IMU = true; - } - - if (buf.sensor.timestamp + buf.sensor.accelerometer_timestamp_relative != accelerometer_timestamp) { - accelerometer_timestamp = buf.sensor.timestamp + buf.sensor.accelerometer_timestamp_relative; - write_IMU = true; - } - -// if (buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative != magnetometer_timestamp) { -// magnetometer_timestamp = buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative; -// write_IMU = true; -// } - -// if (buf.sensor.timestamp + buf.sensor.baro_timestamp_relative != barometer_timestamp) { -// barometer_timestamp = buf.sensor.timestamp + buf.sensor.baro_timestamp_relative; -// write_SENS = true; -// } - - if (write_IMU) { - log_msg.msg_type = LOG_IMU_MSG; - - log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad[0]; - log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad[1]; - log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad[2]; - log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; - log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; - log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; -// log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; -// log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; -// log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; - log_msg.body.log_IMU.temp_gyro = 0; - log_msg.body.log_IMU.temp_acc = 0; - log_msg.body.log_IMU.temp_mag = 0; - LOGBUFFER_WRITE_AND_COUNT(IMU); - } - - if (write_SENS) { -// log_msg.msg_type = LOG_SENS_MSG; -// -// log_msg.body.log_SENS.baro_pres = 0; -// log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; -// log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; -// LOGBUFFER_WRITE_AND_COUNT(SENS); - } - } - - /* --- VTOL VEHICLE STATUS --- */ - if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) { - log_msg.msg_type = LOG_VTOL_MSG; - log_msg.body.log_VTOL.rw_mode = buf.vtol_status.vtol_in_rw_mode; - log_msg.body.log_VTOL.trans_mode = buf.vtol_status.vtol_in_trans_mode; - log_msg.body.log_VTOL.failsafe_mode = buf.vtol_status.vtol_transition_failsafe; - LOGBUFFER_WRITE_AND_COUNT(VTOL); - } - - /* --- GPS POSITION - UNIT #1 --- */ - if (gps_pos_updated) { - - log_msg.msg_type = LOG_GPS_MSG; - log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec; - log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; - log_msg.body.log_GPS.eph = buf_gps_pos.eph; - log_msg.body.log_GPS.epv = buf_gps_pos.epv; - log_msg.body.log_GPS.lat = buf_gps_pos.lat; - log_msg.body.log_GPS.lon = buf_gps_pos.lon; - log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f; - log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s; - log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s; - log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; - log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; - log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used; - log_msg.body.log_GPS.snr_mean = snr_mean; - log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms; - log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator; - LOGBUFFER_WRITE_AND_COUNT(GPS); - } - - /* --- GPS POSITION - UNIT #2 --- */ - if (copy_if_updated_multi(ORB_ID(vehicle_gps_position), 1, &subs.gps_pos_sub[1], &buf.dual_gps_pos)) { - log_msg.msg_type = LOG_DGPS_MSG; - log_msg.body.log_GPS.gps_time = buf.dual_gps_pos.time_utc_usec; - log_msg.body.log_GPS.fix_type = buf.dual_gps_pos.fix_type; - log_msg.body.log_GPS.eph = buf.dual_gps_pos.eph; - log_msg.body.log_GPS.epv = buf.dual_gps_pos.epv; - log_msg.body.log_GPS.lat = buf.dual_gps_pos.lat; - log_msg.body.log_GPS.lon = buf.dual_gps_pos.lon; - log_msg.body.log_GPS.alt = buf.dual_gps_pos.alt * 0.001f; - log_msg.body.log_GPS.vel_n = buf.dual_gps_pos.vel_n_m_s; - log_msg.body.log_GPS.vel_e = buf.dual_gps_pos.vel_e_m_s; - log_msg.body.log_GPS.vel_d = buf.dual_gps_pos.vel_d_m_s; - log_msg.body.log_GPS.cog = buf.dual_gps_pos.cog_rad; - log_msg.body.log_GPS.sats = buf.dual_gps_pos.satellites_used; - log_msg.body.log_GPS.snr_mean = snr_mean; - log_msg.body.log_GPS.noise_per_ms = buf.dual_gps_pos.noise_per_ms; - log_msg.body.log_GPS.jamming_indicator = buf.dual_gps_pos.jamming_indicator; - LOGBUFFER_WRITE_AND_COUNT(GPS); - } - - /* --- SATELLITE INFO - UNIT #1 --- */ - if (_extended_logging) { - - if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) { - - /* log the SNR of each satellite for a detailed view of signal quality */ - unsigned sat_info_count = SDLOG_MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0])); - unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]); - - log_msg.msg_type = LOG_GS0A_MSG; - memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A)); - snr_mean = 0.0f; - - /* fill set A and calculate mean SNR */ - for (unsigned i = 0; i < sat_info_count; i++) { - - snr_mean += buf.sat_info.snr[i]; - - int satindex = buf.sat_info.svid[i] - 1; - - /* handles index exceeding and wraps to to arithmetic errors */ - if ((satindex >= 0) && (satindex < (int)log_max_snr)) { - /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i]; - } - } - LOGBUFFER_WRITE_AND_COUNT(GS0A); - snr_mean /= sat_info_count; - - log_msg.msg_type = LOG_GS0B_MSG; - memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B)); - - /* fill set B */ - for (unsigned i = 0; i < sat_info_count; i++) { - - /* get second bank of satellites, thus deduct bank size from index */ - int satindex = buf.sat_info.svid[i] - 1 - log_max_snr; - - /* handles index exceeding and wraps to to arithmetic errors */ - if ((satindex >= 0) && (satindex < (int)log_max_snr)) { - /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i]; - } - } - LOGBUFFER_WRITE_AND_COUNT(GS0B); - } - } - - /* --- ATTITUDE SETPOINT --- */ - if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), &subs.att_sp_sub, &buf.att_sp)) { - log_msg.msg_type = LOG_ATSP_MSG; - log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; - log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; - log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; - log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; - log_msg.body.log_ATSP.q_w = buf.att_sp.q_d[0]; - log_msg.body.log_ATSP.q_x = buf.att_sp.q_d[1]; - log_msg.body.log_ATSP.q_y = buf.att_sp.q_d[2]; - log_msg.body.log_ATSP.q_z = buf.att_sp.q_d[3]; - LOGBUFFER_WRITE_AND_COUNT(ATSP); - } - - /* --- RATES SETPOINT --- */ - if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), &subs.rates_sp_sub, &buf.rates_sp)) { - log_msg.msg_type = LOG_ARSP_MSG; - log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; - log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; - log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; - LOGBUFFER_WRITE_AND_COUNT(ARSP); - } - - /* --- ACTUATOR OUTPUTS --- */ - if (copy_if_updated_multi(ORB_ID(actuator_outputs), 0, &subs.act_outputs_sub, &buf.act_outputs)) { - log_msg.msg_type = LOG_OUT0_MSG; - memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output)); - LOGBUFFER_WRITE_AND_COUNT(OUT); - } - - if (copy_if_updated_multi(ORB_ID(actuator_outputs), 1, &subs.act_outputs_1_sub, &buf.act_outputs)) { - log_msg.msg_type = LOG_OUT1_MSG; - memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output)); - LOGBUFFER_WRITE_AND_COUNT(OUT); - } - - /* --- ACTUATOR CONTROL --- */ - if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &subs.act_controls_sub, &buf.act_controls)) { - log_msg.msg_type = LOG_ATTC_MSG; - log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; - log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; - log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; - log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; - LOGBUFFER_WRITE_AND_COUNT(ATTC); - } - - /* --- ACTUATOR CONTROL FW VTOL --- */ - if(copy_if_updated(ORB_ID(actuator_controls_1), &subs.act_controls_1_sub,&buf.act_controls)) { - log_msg.msg_type = LOG_ATC1_MSG; - log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; - log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; - log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; - log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; - LOGBUFFER_WRITE_AND_COUNT(ATTC); - } - - /* --- LOCAL POSITION --- */ - if (copy_if_updated(ORB_ID(vehicle_local_position), &subs.local_pos_sub, &buf.local_pos)) { - log_msg.msg_type = LOG_LPOS_MSG; - log_msg.body.log_LPOS.x = buf.local_pos.x; - log_msg.body.log_LPOS.y = buf.local_pos.y; - log_msg.body.log_LPOS.z = buf.local_pos.z; - log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; - log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_LPOS.vx = buf.local_pos.vx; - log_msg.body.log_LPOS.vy = buf.local_pos.vy; - log_msg.body.log_LPOS.vz = buf.local_pos.vz; - log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; - log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; - log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; - log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) | - (buf.local_pos.z_valid ? 2 : 0) | - (buf.local_pos.v_xy_valid ? 4 : 0) | - (buf.local_pos.v_z_valid ? 8 : 0) | - (buf.local_pos.xy_global ? 16 : 0) | - (buf.local_pos.z_global ? 32 : 0); - log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - log_msg.body.log_LPOS.eph = buf.local_pos.eph; - log_msg.body.log_LPOS.epv = buf.local_pos.epv; - LOGBUFFER_WRITE_AND_COUNT(LPOS); - } - - /* --- LOCAL POSITION SETPOINT --- */ - if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), &subs.local_pos_sp_sub, &buf.local_pos_sp)) { - log_msg.msg_type = LOG_LPSP_MSG; - log_msg.body.log_LPSP.x = buf.local_pos_sp.x; - log_msg.body.log_LPSP.y = buf.local_pos_sp.y; - log_msg.body.log_LPSP.z = buf.local_pos_sp.z; - log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; - log_msg.body.log_LPSP.vx = buf.local_pos_sp.vx; - log_msg.body.log_LPSP.vy = buf.local_pos_sp.vy; - log_msg.body.log_LPSP.vz = buf.local_pos_sp.vz; - log_msg.body.log_LPSP.acc_x = buf.local_pos_sp.acc_x; - log_msg.body.log_LPSP.acc_y = buf.local_pos_sp.acc_y; - log_msg.body.log_LPSP.acc_z = buf.local_pos_sp.acc_z; - LOGBUFFER_WRITE_AND_COUNT(LPSP); - } - - /* --- GLOBAL POSITION --- */ - if (copy_if_updated(ORB_ID(vehicle_global_position), &subs.global_pos_sub, &buf.global_pos)) { - log_msg.msg_type = LOG_GPOS_MSG; - log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7; - log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7; - log_msg.body.log_GPOS.alt = buf.global_pos.alt; - log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; - log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; - log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; - log_msg.body.log_GPOS.eph = buf.global_pos.eph; - log_msg.body.log_GPOS.epv = buf.global_pos.epv; - if (buf.global_pos.terrain_alt_valid) { - log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt; - } else { - log_msg.body.log_GPOS.terrain_alt = -1.0f; - } - LOGBUFFER_WRITE_AND_COUNT(GPOS); - } - - /* --- BATTERY --- */ - if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) { - log_msg.msg_type = LOG_BATT_MSG; - log_msg.body.log_BATT.voltage = buf.battery.voltage_v; - log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; - log_msg.body.log_BATT.current = buf.battery.current_a; - log_msg.body.log_BATT.current_filtered = buf.battery.current_filtered_a; - log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; - log_msg.body.log_BATT.remaining = buf.battery.remaining; - log_msg.body.log_BATT.scale = buf.battery.scale; - log_msg.body.log_BATT.warning = buf.battery.warning; - LOGBUFFER_WRITE_AND_COUNT(BATT); - } - - /* --- GLOBAL POSITION SETPOINT --- */ - if (copy_if_updated(ORB_ID(position_setpoint_triplet), &subs.triplet_sub, &buf.triplet)) { - - if (buf.triplet.current.valid) { - log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * (double)1e7); - log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * (double)1e7); - log_msg.body.log_GPSP.alt = buf.triplet.current.alt; - log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; - log_msg.body.log_GPSP.type = buf.triplet.current.type; - log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; - log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; - LOGBUFFER_WRITE_AND_COUNT(GPSP); - } - } - - /* --- MOCAP ATTITUDE AND POSITION --- */ - if (copy_if_updated(ORB_ID(vehicle_mocap_odometry), &subs.mocap_odom_sub, &buf.mocap_odom)) { - log_msg.msg_type = LOG_MOCP_MSG; - log_msg.body.log_MOCP.qw = buf.mocap_odom.q[0]; - log_msg.body.log_MOCP.qx = buf.mocap_odom.q[1]; - log_msg.body.log_MOCP.qy = buf.mocap_odom.q[2]; - log_msg.body.log_MOCP.qz = buf.mocap_odom.q[3]; - log_msg.body.log_MOCP.x = buf.mocap_odom.x; - log_msg.body.log_MOCP.y = buf.mocap_odom.y; - log_msg.body.log_MOCP.z = buf.mocap_odom.z; - LOGBUFFER_WRITE_AND_COUNT(MOCP); - } - - /* --- VISUAL ODOMETRY --- */ - if (copy_if_updated(ORB_ID(vehicle_visual_odometry), &subs.visual_odom_sub, &buf.visual_odom)) { - log_msg.msg_type = LOG_VISN_MSG; - log_msg.body.log_VISN.x = buf.visual_odom.x; - log_msg.body.log_VISN.y = buf.visual_odom.y; - log_msg.body.log_VISN.z = buf.visual_odom.z; - log_msg.body.log_VISN.vx = buf.visual_odom.vx; - log_msg.body.log_VISN.vy = buf.visual_odom.vy; - log_msg.body.log_VISN.vz = buf.visual_odom.vz; - log_msg.body.log_VISN.qw = buf.visual_odom.q[0]; // vision_position_estimate uses [w,x,y,z] convention - log_msg.body.log_VISN.qx = buf.visual_odom.q[1]; - log_msg.body.log_VISN.qy = buf.visual_odom.q[2]; - log_msg.body.log_VISN.qz = buf.visual_odom.q[3]; - LOGBUFFER_WRITE_AND_COUNT(VISN); - } - - /* --- FLOW --- */ - if (copy_if_updated(ORB_ID(optical_flow), &subs.flow_sub, &buf.flow)) { - log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m; - log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature; - log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral; - log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral; - log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral; - log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan; - log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral; - log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral; - log_msg.body.log_FLOW.quality = buf.flow.quality; - log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; - LOGBUFFER_WRITE_AND_COUNT(FLOW); - } - - /* --- RC CHANNELS --- */ - if (copy_if_updated(ORB_ID(rc_channels), &subs.rc_sub, &buf.rc)) { - log_msg.msg_type = LOG_RC_MSG; - /* Copy only the first 12 channels of 18 */ - memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel)); - log_msg.body.log_RC.rssi = buf.rc.rssi; - log_msg.body.log_RC.channel_count = buf.rc.channel_count; - log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; - log_msg.body.log_RC.frame_drop = buf.rc.frame_drop_count; - LOGBUFFER_WRITE_AND_COUNT(RC); - } - - /* --- AIRSPEED --- */ - if (copy_if_updated(ORB_ID(airspeed), &subs.airspeed_sub, &buf.airspeed)) { - log_msg.msg_type = LOG_AIRS_MSG; - log_msg.body.log_AIRS.indicated_airspeed_m_s = buf.airspeed.indicated_airspeed_m_s; - log_msg.body.log_AIRS.true_airspeed_m_s = buf.airspeed.true_airspeed_m_s; - log_msg.body.log_AIRS.true_airspeed_unfiltered_m_s = buf.airspeed.true_airspeed_unfiltered_m_s; - log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius; - log_msg.body.log_AIRS.confidence = buf.airspeed.confidence; - LOGBUFFER_WRITE_AND_COUNT(AIRS); - } - - /* --- DIFFERENTIAL PRESSURE --- */ - if (copy_if_updated(ORB_ID(differential_pressure), &subs.diff_pres_sub, &buf.diff_pres)) { - log_msg.msg_type = LOG_DPRS_MSG; - log_msg.body.log_DPRS.error_count = buf.diff_pres.error_count; - log_msg.body.log_DPRS.differential_pressure_raw_pa = buf.diff_pres.differential_pressure_raw_pa; - log_msg.body.log_DPRS.differential_pressure_filtered_pa = buf.diff_pres.differential_pressure_filtered_pa; - log_msg.body.log_DPRS.temperature = buf.diff_pres.temperature; - LOGBUFFER_WRITE_AND_COUNT(DPRS); - } - - /* --- ESCs --- */ - if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) { - for (uint8_t i = 0; i < buf.esc.esc_count; i++) { - log_msg.msg_type = LOG_ESC_MSG; - log_msg.body.log_ESC.counter = buf.esc.counter; - log_msg.body.log_ESC.esc_count = buf.esc.esc_count; - log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; - log_msg.body.log_ESC.esc_num = i; - log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; - log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; - log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; - log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; - log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; - log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; - log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; - log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; - LOGBUFFER_WRITE_AND_COUNT(ESC); - } - } - - /* --- BATTERY --- */ - if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) { - log_msg.msg_type = LOG_BATT_MSG; - log_msg.body.log_BATT.voltage = buf.battery.voltage_v; - log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; - log_msg.body.log_BATT.current = buf.battery.current_a; - log_msg.body.log_BATT.current_filtered = buf.battery.current_filtered_a; - log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; - LOGBUFFER_WRITE_AND_COUNT(BATT); - } - - /* --- SYSTEM POWER RAILS --- */ - if (copy_if_updated(ORB_ID(system_power), &subs.system_power_sub, &buf.system_power)) { - log_msg.msg_type = LOG_PWR_MSG; - log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v; - log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; - log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; - log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; - log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; - log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; - - /* copy servo rail status topic here too */ - orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); - log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v; - log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v; - - LOGBUFFER_WRITE_AND_COUNT(PWR); - } - - /* --- TELEMETRY --- */ - for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { - if (copy_if_updated_multi(ORB_ID(telemetry_status), i, &subs.telemetry_subs[i], &buf.telemetry)) { - log_msg.msg_type = LOG_TEL0_MSG + i; - log_msg.body.log_TEL.rssi = buf.telemetry.rssi; - log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi; - log_msg.body.log_TEL.noise = buf.telemetry.noise; - log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise; - log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors; - log_msg.body.log_TEL.fixed = buf.telemetry.fixed; - log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf; - log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time; - LOGBUFFER_WRITE_AND_COUNT(TEL); - } - } - - /* --- DISTANCE SENSOR --- */ - if (copy_if_updated(ORB_ID(distance_sensor), &subs.distance_sensor_sub, &buf.distance_sensor)) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.id = buf.distance_sensor.id; - log_msg.body.log_DIST.type = buf.distance_sensor.type; - log_msg.body.log_DIST.orientation = buf.distance_sensor.orientation; - log_msg.body.log_DIST.current_distance = buf.distance_sensor.current_distance; - log_msg.body.log_DIST.covariance = buf.distance_sensor.covariance; - LOGBUFFER_WRITE_AND_COUNT(DIST); - } - - /* --- ESTIMATOR STATUS --- */ - if (copy_if_updated(ORB_ID(estimator_status), &subs.estimator_status_sub, &buf.estimator_status)) { - log_msg.msg_type = LOG_EST0_MSG; - unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s); - memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s)); - memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0); - log_msg.body.log_EST0.n_states = buf.estimator_status.n_states; - log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags; - log_msg.body.log_EST0.fault_flags = buf.estimator_status.filter_fault_flags; - log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags; - LOGBUFFER_WRITE_AND_COUNT(EST0); - - log_msg.msg_type = LOG_EST1_MSG; - unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s); - memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s)); - memcpy(&(log_msg.body.log_EST1.s), ((char*)buf.estimator_status.states) + maxcopy0, maxcopy1); - LOGBUFFER_WRITE_AND_COUNT(EST1); - - log_msg.msg_type = LOG_EST2_MSG; - unsigned maxcopy2 = (sizeof(buf.estimator_status.covariances) < sizeof(log_msg.body.log_EST2.cov)) ? sizeof(buf.estimator_status.covariances) : sizeof(log_msg.body.log_EST2.cov); - memset(&(log_msg.body.log_EST2.cov), 0, sizeof(log_msg.body.log_EST2.cov)); - memcpy(&(log_msg.body.log_EST2.cov), buf.estimator_status.covariances, maxcopy2); - log_msg.body.log_EST2.gps_check_fail_flags = buf.estimator_status.gps_check_fail_flags; - log_msg.body.log_EST2.control_mode_flags = buf.estimator_status.control_mode_flags; - log_msg.body.log_EST2.health_flags = buf.estimator_status.health_flags; - log_msg.body.log_EST2.innov_test_flags = buf.estimator_status.innovation_check_flags; - LOGBUFFER_WRITE_AND_COUNT(EST2); - - log_msg.msg_type = LOG_EST3_MSG; - unsigned maxcopy3 = ((sizeof(buf.estimator_status.covariances) - maxcopy2) < sizeof(log_msg.body.log_EST3.cov)) ? (sizeof(buf.estimator_status.covariances) - maxcopy2) : sizeof(log_msg.body.log_EST3.cov); - memset(&(log_msg.body.log_EST3.cov), 0, sizeof(log_msg.body.log_EST3.cov)); - memcpy(&(log_msg.body.log_EST3.cov), ((char*)buf.estimator_status.covariances) + maxcopy2, maxcopy3); - LOGBUFFER_WRITE_AND_COUNT(EST3); - } - - /* --- EKF2 INNOVATIONS --- */ - if (copy_if_updated(ORB_ID(ekf2_innovations), &subs.innov_sub, &buf.innovations)) { - log_msg.msg_type = LOG_EST4_MSG; - memset(&(log_msg.body.log_INO1.s), 0, sizeof(log_msg.body.log_INO1.s)); - for (unsigned i = 0; i < 6; i++) { - log_msg.body.log_INO1.s[i] = buf.innovations.vel_pos_innov[i]; - log_msg.body.log_INO1.s[i + 6] = buf.innovations.vel_pos_innov_var[i]; - } - for (unsigned i = 0; i < 3; i++) { - log_msg.body.log_INO1.s[i + 12] = buf.innovations.output_tracking_error[i]; - } - LOGBUFFER_WRITE_AND_COUNT(EST4); - - log_msg.msg_type = LOG_EST5_MSG; - memset(&(log_msg.body.log_INO2.s), 0, sizeof(log_msg.body.log_INO2.s)); - for (unsigned i = 0; i < 3; i++) { - log_msg.body.log_INO2.s[i] = buf.innovations.mag_innov[i]; - log_msg.body.log_INO2.s[i + 3] = buf.innovations.mag_innov_var[i]; - } - - log_msg.body.log_INO2.s[6] = buf.innovations.heading_innov; - log_msg.body.log_INO2.s[7] = buf.innovations.heading_innov_var; - log_msg.body.log_INO2.s[8] = buf.innovations.airspeed_innov; - log_msg.body.log_INO2.s[9] = buf.innovations.airspeed_innov_var; - log_msg.body.log_INO2.s[10] = buf.innovations.beta_innov; - log_msg.body.log_INO2.s[11] = buf.innovations.beta_innov_var; - LOGBUFFER_WRITE_AND_COUNT(EST5); - - log_msg.msg_type = LOG_EST6_MSG; - memset(&(log_msg.body.log_INO3.s), 0, sizeof(log_msg.body.log_INO3.s)); - for(unsigned i = 0; i < 2; i++) { - log_msg.body.log_INO3.s[i] = buf.innovations.flow_innov[i]; - log_msg.body.log_INO3.s[i + 2] = buf.innovations.flow_innov_var[i]; - } - log_msg.body.log_INO3.s[4] = buf.innovations.hagl_innov; - log_msg.body.log_INO3.s[5] = buf.innovations.hagl_innov_var; - LOGBUFFER_WRITE_AND_COUNT(EST6); - } - - /* --- TECS STATUS --- */ - if (copy_if_updated(ORB_ID(tecs_status), &subs.tecs_status_sub, &buf.tecs_status)) { - log_msg.msg_type = LOG_TECS_MSG; - log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; - log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered; - log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp; - log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle; - log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp; - log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered; - log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp; - log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative; - log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError; - log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError; - log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError; - log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError; - log_msg.body.log_TECS.pitch_integ = buf.tecs_status.pitch_integ; - log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ; - log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode; - LOGBUFFER_WRITE_AND_COUNT(TECS); - } - - /* --- WIND ESTIMATE --- */ - if (copy_if_updated(ORB_ID(wind_estimate), &subs.wind_sub, &buf.wind_estimate)) { - log_msg.msg_type = LOG_WIND_MSG; - log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north; - log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east; - log_msg.body.log_WIND.cov_x = buf.wind_estimate.variance_north; - log_msg.body.log_WIND.cov_y = buf.wind_estimate.variance_east; - LOGBUFFER_WRITE_AND_COUNT(WIND); - } - - /* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */ - if (copy_if_updated(ORB_ID(rate_ctrl_status), &subs.rate_ctrl_status_sub, &buf.rate_ctrl_status)) { - log_msg.msg_type = LOG_MACS_MSG; - log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.rollspeed_integ; - log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitchspeed_integ; - log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yawspeed_integ; - LOGBUFFER_WRITE_AND_COUNT(MACS); - } - } - - /* --- ATTITUDE --- */ - if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) { - log_msg.msg_type = LOG_ATT_MSG; - float q0 = buf.att.q[0]; - float q1 = buf.att.q[1]; - float q2 = buf.att.q[2]; - float q3 = buf.att.q[3]; - log_msg.body.log_ATT.q_w = q0; - log_msg.body.log_ATT.q_x = q1; - log_msg.body.log_ATT.q_y = q2; - log_msg.body.log_ATT.q_z = q3; - log_msg.body.log_ATT.roll = atan2f(2*(q0*q1 + q2*q3), 1 - 2*(q1*q1 + q2*q2)); - log_msg.body.log_ATT.pitch = asinf(2*(q0*q2 - q3*q1)); - log_msg.body.log_ATT.yaw = atan2f(2*(q0*q3 + q1*q2), 1 - 2*(q2*q2 + q3*q3)); - log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; - log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; - log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; - LOGBUFFER_WRITE_AND_COUNT(ATT); - } - - /* --- CAMERA TRIGGER --- */ - if (copy_if_updated(ORB_ID(camera_trigger), &subs.cam_trig_sub, &buf.camera_trigger)) { - log_msg.msg_type = LOG_CAMT_MSG; - log_msg.body.log_CAMT.timestamp = buf.camera_trigger.timestamp; - log_msg.body.log_CAMT.seq = buf.camera_trigger.seq; - LOGBUFFER_WRITE_AND_COUNT(CAMT); - } - - /* --- LAND DETECTED --- */ - if (copy_if_updated(ORB_ID(vehicle_land_detected), &subs.land_detected_sub, &buf.land_detected)) { - log_msg.msg_type = LOG_LAND_MSG; - log_msg.body.log_LAND.landed = buf.land_detected.landed; - LOGBUFFER_WRITE_AND_COUNT(LAND); - } - - /* --- LOAD --- */ - if (copy_if_updated(ORB_ID(cpuload), &subs.cpuload_sub, &buf.cpuload)) { - log_msg.msg_type = LOG_LOAD_MSG; - log_msg.body.log_LOAD.cpu_load = buf.cpuload.load; - LOGBUFFER_WRITE_AND_COUNT(LOAD); - } - - /* --- STACK --- */ - if (copy_if_updated(ORB_ID(task_stack_info), &subs.task_stack_info_sub, &buf.task_stack_info)) { - log_msg.msg_type = LOG_STCK_MSG; - log_msg.body.log_STCK.stack_free = buf.task_stack_info.stack_free; - strncpy(log_msg.body.log_STCK.task_name, (char*)buf.task_stack_info.task_name, - sizeof(log_msg.body.log_STCK.task_name)); - LOGBUFFER_WRITE_AND_COUNT(STCK); - } - - pthread_mutex_lock(&logbuffer_mutex); - - /* signal the other thread new data, but not yet unlock */ - if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&logbuffer_cond); - } - - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&logbuffer_mutex); - } - - if (logging_enabled) { - sdlog2_stop_log(); - } - - pthread_mutex_destroy(&logbuffer_mutex); - pthread_cond_destroy(&logbuffer_cond); - - /* free log buffer */ - logbuffer_free(&lb); - - thread_running = false; - - return 0; -} - -void sdlog2_status() -{ - PX4_WARN("extended logging: %s", (_extended_logging) ? "ON" : "OFF"); - PX4_WARN("time: gps: %u seconds", (unsigned)gps_time_sec); - if (!logging_enabled) { - PX4_WARN("not logging"); - } else { - - float kibibytes = log_bytes_written / 1024.0f; - float mebibytes = kibibytes / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; - - PX4_WARN("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); - mavlink_log_info(&mavlink_log_pub, "[blackbox] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); - } -} - -/** - * @return true if file exists - */ -bool file_exist(const char *filename) -{ - struct stat buffer; - return stat(filename, &buffer) == 0; -} - -int check_free_space() -{ - /* use statfs to determine the number of blocks left */ - FAR struct statfs statfs_buf; - if (statfs(mountpoint, &statfs_buf) != OK) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging"); - return PX4_ERROR; - } - - /* use a threshold of 50 MiB */ - if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB", - (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); - /* we do not need a flag to remember that we sent this warning because we will exit anyway */ - return PX4_ERROR; - - /* use a threshold of 100 MiB to send a warning */ - } else if (!space_warning_sent && statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(100 * 1024 * 1024 / statfs_buf.f_bsize)) { - mavlink_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB", - (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); - /* we don't want to flood the user with warnings */ - space_warning_sent = true; - } - - return PX4_OK; -} - -void handle_command(struct vehicle_command_s *cmd) -{ - int param; - - /* request to set different system mode */ - switch (cmd->command) { - - case VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE: - param = (int)(cmd->param3 + 0.5f); - - if (param == 1) { - sdlog2_start_log(); - - } else if (param == 2) { - sdlog2_stop_log(); - } else { - // Silently ignore non-matching command values, as they could be for params. - } - - break; - - default: - /* silently ignore */ - break; - } -} - -void handle_status(struct vehicle_status_s *status) -{ - // TODO use flag from actuator_armed here? - bool armed = status->arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED; - - if (armed != flag_system_armed) { - flag_system_armed = armed; - - if (flag_system_armed) { - sdlog2_start_log(); - - } else { - sdlog2_stop_log(); - } - } -}