fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
PX4-Autopilot/src/modules/sdlog2/sdlog2.c
Anton Babushkin 85d35777e0 sdlog2: bugfix in FLOW message
2013-06-25 22:51:51 +04:00

1233 lines
35 KiB
C
Raw Blame History

/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <rk3dov@gmail.com>
*
* 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 <lm@inf.ethz.ch>
* @author Anton Babushkin <rk3dov@gmail.com>
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/prctl.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/systemlib.h>
#include <mavlink/mavlink_log.h>
#include "logbuffer.h"
#include "sdlog2_format.h"
#include "sdlog2_messages.h"
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
log_msgs_skipped++; \
/*printf("skip\n");*/ \
}
#define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \
fds[fdsc_count].fd = subs.##_var##_sub; \
fds[fdsc_count].events = POLLIN; \
fdsc_count++;
//#define SDLOG2_DEBUG
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 int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
static const char *mountpoint = "/fs/microsd";
static int mavlink_fd = -1;
struct logbuffer_s lb;
/* mutex / condition to synchronize threads */
static pthread_mutex_t logbuffer_mutex;
static pthread_cond_t logbuffer_cond;
static char folder_path[64];
/* statistics counters */
static unsigned long log_bytes_written = 0;
static uint64_t start_time = 0;
static unsigned long log_msgs_written = 0;
static unsigned long log_msgs_skipped = 0;
/* current state of logging */
static bool logging_enabled = false;
/* enable logging on start (-e option) */
static bool log_on_start = false;
/* enable logging when armed (-a option) */
static bool log_when_armed = false;
/* delay = 1 / rate (rate defined by -r option) */
static useconds_t sleep_delay = 0;
/* helper flag to track system state changes */
static bool flag_system_armed = false;
static pthread_t logwriter_pthread = 0;
/**
* 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[]);
/**
* 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 void write_formats(int fd);
static bool file_exist(const char *filename);
static int file_copy(const char *file_old, const char *file_new);
static void handle_command(struct vehicle_command_s *cmd);
static void handle_status(struct vehicle_status_s *cmd);
/**
* Create folder for current logging session. Store folder name in 'log_folder'.
*/
static int create_logfolder(void);
/**
* Select first free log file name and open it.
*/
static int open_logfile(void);
static void
sdlog2_usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\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");
}
/**
* 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");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("sdlog2 already running\n");
/* this is not an error */
exit(0);
}
main_thread_should_exit = false;
deamon_task = task_spawn("sdlog2",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
3000,
sdlog2_thread_main,
(const char **)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog2 is not started\n");
}
main_thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
sdlog2_status();
} else {
printf("\tsdlog2 not started\n");
}
exit(0);
}
sdlog2_usage("unrecognized command");
exit(1);
}
int create_logfolder()
{
/* make folder on sdcard */
uint16_t folder_number = 1; // start with folder sess001
int mkdir_ret;
/* look for the next folder that does not exist */
while (folder_number <= MAX_NO_LOGFOLDER) {
/* set up folder path: e.g. /fs/microsd/sess001 */
sprintf(folder_path, "%s/sess%03u", mountpoint, folder_number);
mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
/* the result is -1 if the folder exists */
if (mkdir_ret == 0) {
/* folder does not exist, success */
break;
} else if (mkdir_ret == -1) {
/* folder exists already */
folder_number++;
continue;
} else {
warn("failed creating new folder");
return -1;
}
}
if (folder_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 */
warnx("all %d possible folders exist already.", MAX_NO_LOGFOLDER);
return -1;
}
return 0;
}
int open_logfile()
{
/* make folder on sdcard */
uint16_t file_number = 1; // start with file log001
/* string to hold the path to the log */
char path_buf[64] = "";
int fd = 0;
/* look for the next file that does not exist */
while (file_number <= MAX_NO_LOGFILE) {
/* set up file path: e.g. /fs/microsd/sess001/log001.bin */
sprintf(path_buf, "%s/log%03u.bin", folder_path, file_number);
if (file_exist(path_buf)) {
file_number++;
continue;
}
fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
if (fd == 0) {
warn("opening %s failed", path_buf);
}
warnx("logging to: %s.", path_buf);
mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
return fd;
}
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 */
warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
return -1;
}
return 0;
}
static void *logwriter_thread(void *arg)
{
/* set name */
prctl(PR_SET_NAME, "sdlog2_writer", 0);
struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
int log_file = open_logfile();
/* write log messages formats */
write_formats(log_file);
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);
#ifdef SDLOG2_DEBUG
int rp = logbuf->read_ptr;
int wp = logbuf->write_ptr;
#endif
/* 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;
}
n = write(log_file, read_ptr, n);
should_wait = (n == available) && !is_part;
#ifdef SDLOG2_DEBUG
printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
#endif
if (n < 0) {
main_thread_should_exit = true;
err(1, "error writing log file");
}
if (n > 0) {
log_bytes_written += n;
}
} else {
n = 0;
#ifdef SDLOG2_DEBUG
printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
#endif
/* exit only with empty buffer */
if (main_thread_should_exit || logwriter_should_exit) {
#ifdef SDLOG2_DEBUG
printf("break logwriter thread\n");
#endif
break;
}
should_wait = true;
}
if (++poll_count == 10) {
fsync(log_file);
poll_count = 0;
}
}
fsync(log_file);
close(log_file);
#ifdef SDLOG2_DEBUG
printf("logwriter thread exit\n");
#endif
return OK;
}
void sdlog2_start_log()
{
warnx("start logging.");
mavlink_log_info(mavlink_fd, "[sdlog2] start logging");
/* 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_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
/* low priority, as this is expensive disk I/O */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
logwriter_should_exit = false;
/* start log buffer emptying thread */
if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
errx(1, "error creating logwriter thread");
}
logging_enabled = true;
// XXX we have to destroy the attr at some point
}
void sdlog2_stop_log()
{
warnx("stop logging.");
mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
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) {
warnx("error joining logwriter thread: %i", ret);
}
logwriter_pthread = 0;
sdlog2_status();
}
void write_formats(int fd)
{
/* construct message format packet */
struct {
LOG_PACKET_HEADER;
struct log_format_s body;
} log_format_packet = {
LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
};
/* fill message format packet for each format and write to log */
int i;
for (i = 0; i < log_formats_num; i++) {
log_format_packet.body = log_formats[i];
log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
}
fsync(fd);
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("failed to open MAVLink log stream, start mavlink app first.");
}
/* log buffer size */
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
sleep_delay = 0;
} else {
sleep_delay = 1000000 / r;
}
}
break;
case 'b': {
unsigned long s = strtoul(optarg, NULL, 10);
if (s < 1) {
s = 1;
}
log_buffer_size = 1024 * s;
}
break;
case 'e':
log_on_start = true;
break;
case 'a':
log_when_armed = true;
break;
case '?':
if (optopt == 'c') {
warnx("Option -%c requires an argument.", optopt);
} else if (isprint(optopt)) {
warnx("Unknown option `-%c'.", optopt);
} else {
warnx("Unknown option character `\\x%x'.", optopt);
}
default:
sdlog2_usage("unrecognized flag");
errx(1, "exiting.");
}
}
if (!file_exist(mountpoint)) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
}
if (create_logfolder()) {
errx(1, "unable to create logging folder, exiting.");
}
/* only print logging path, important to find log file later */
warnx("logging to directory: %s", folder_path);
/* initialize log buffer with specified size */
warnx("log buffer size: %i bytes.", log_buffer_size);
if (OK != logbuffer_init(&lb, log_buffer_size)) {
errx(1, "can't allocate log buffer, exiting.");
}
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 17;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
struct vehicle_status_s buf_status;
memset(&buf_status, 0, sizeof(buf_status));
/* 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_effective_s act_controls_effective;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int act_controls_effective_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
} subs;
/* 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_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
};
#pragma pack(pop)
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- VEHICLE COMMAND --- */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VEHICLE STATUS --- */
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
fds[fdsc_count].fd = subs.status_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS COMBINED --- */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE --- */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT --- */
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.att_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RATES SETPOINT --- */
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
fds[fdsc_count].fd = subs.rates_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL --- */
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.act_controls_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE --- */
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.act_controls_effective_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION SETPOINT --- */
subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
fds[fdsc_count].fd = subs.local_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- OPTICAL FLOW --- */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RC CHANNELS --- */
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
fds[fdsc_count].fd = subs.rc_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms
*/
const int poll_timeout = 1000;
thread_running = true;
/* initialize thread synchronization */
pthread_mutex_init(&logbuffer_mutex, NULL);
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
uint16_t gyro_counter = 0;
uint16_t accelerometer_counter = 0;
uint16_t magnetometer_counter = 0;
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
/* enable logging on start if needed */
if (log_on_start)
sdlog2_start_log();
while (!main_thread_should_exit) {
/* decide use usleep() or blocking poll() */
bool use_sleep = sleep_delay > 0 && logging_enabled;
/* poll all topics if logging enabled or only management (first 2) if not */
int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout);
/* handle the poll result */
if (poll_ret < 0) {
warnx("ERROR: poll error, stop logging.");
main_thread_should_exit = true;
} else if (poll_ret > 0) {
/* check all data subscriptions only if logging enabled,
* logging_enabled can be changed while checking vehicle_command and vehicle_status */
bool check_data = logging_enabled;
int ifds = 0;
int handled_topics = 0;
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
handle_command(&buf.cmd);
handled_topics++;
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (log_when_armed) {
handle_status(&buf_status);
}
handled_topics++;
}
if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
continue;
}
ifds = 1; // Begin from fds[1] again
pthread_mutex_lock(&logbuffer_mutex);
/* 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);
/* --- VEHICLE STATUS --- */
if (fds[ifds++].revents & POLLIN) {
// Don't orb_copy, it's already done few lines above
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.state = (unsigned char) buf_status.state_machine;
log_msg.body.log_STAT.flight_mode = (unsigned char) buf_status.flight_mode;
log_msg.body.log_STAT.manual_control_mode = (unsigned char) buf_status.manual_control_mode;
log_msg.body.log_STAT.manual_sas_mode = (unsigned char) buf_status.manual_sas_mode;
log_msg.body.log_STAT.armed = (unsigned char) buf_status.flag_system_armed;
log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery;
log_msg.body.log_STAT.battery_current = buf_status.current_battery;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf.gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
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;
LOGBUFFER_WRITE_AND_COUNT(GPS);
}
/* --- SENSOR COMBINED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.gyro_counter != gyro_counter) {
gyro_counter = buf.sensor.gyro_counter;
write_IMU = true;
}
if (buf.sensor.accelerometer_counter != accelerometer_counter) {
accelerometer_counter = buf.sensor.accelerometer_counter;
write_IMU = true;
}
if (buf.sensor.magnetometer_counter != magnetometer_counter) {
magnetometer_counter = buf.sensor.magnetometer_counter;
write_IMU = true;
}
if (buf.sensor.baro_counter != baro_counter) {
baro_counter = buf.sensor.baro_counter;
write_SENS = true;
}
if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
differential_pressure_counter = buf.sensor.differential_pressure_counter;
write_SENS = true;
}
if (write_IMU) {
log_msg.msg_type = LOG_IMU_MSG;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[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];
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
if (write_SENS) {
log_msg.msg_type = LOG_SENS_MSG;
log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
/* --- ATTITUDE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
log_msg.body.log_ATT.yaw = buf.att.yaw;
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);
}
/* --- ATTITUDE SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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;
LOGBUFFER_WRITE_AND_COUNT(ATSP);
}
/* --- RATES SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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 (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
}
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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 EFFECTIVE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
// TODO not implemented yet
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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.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.hdg = buf.local_pos.hdg;
log_msg.body.log_LPOS.home_lat = buf.local_pos.home_lat;
log_msg.body.log_LPOS.home_lon = buf.local_pos.home_lon;
log_msg.body.log_LPOS.home_alt = buf.local_pos.home_alt;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
/* --- LOCAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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;
LOGBUFFER_WRITE_AND_COUNT(LPSP);
}
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
// TODO not implemented yet
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
// TODO not implemented yet
}
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
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 (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
LOGBUFFER_WRITE_AND_COUNT(RC);
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
#ifdef SDLOG2_DEBUG
printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
#endif
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
#ifdef SDLOG2_DEBUG
printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
#endif
/* 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 (use_sleep) {
usleep(sleep_delay);
}
}
if (logging_enabled)
sdlog2_stop_log();
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
warnx("exiting.");
thread_running = false;
return 0;
}
void sdlog2_status()
{
float kibibytes = log_bytes_written / 1024.0f;
float mebibytes = kibibytes / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
warnx("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_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs.", log_msgs_written, log_msgs_skipped);
}
/**
* @return 0 if file exists
*/
bool file_exist(const char *filename)
{
struct stat buffer;
return stat(filename, &buffer) == 0;
}
int file_copy(const char *file_old, const char *file_new)
{
FILE *source, *target;
source = fopen(file_old, "r");
int ret = 0;
if (source == NULL) {
warnx("failed opening input file to copy.");
return 1;
}
target = fopen(file_new, "w");
if (target == NULL) {
fclose(source);
warnx("failed to open output file to copy.");
return 1;
}
char buf[128];
int nread;
while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
ret = fwrite(buf, 1, nread, target);
if (ret <= 0) {
warnx("error writing file.");
ret = 1;
break;
}
}
fsync(fileno(target));
fclose(source);
fclose(target);
return ret;
}
void handle_command(struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
int param;
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_PREFLIGHT_STORAGE:
param = (int)(cmd->param3);
if (param == 1) {
sdlog2_start_log();
} else if (param == 0) {
sdlog2_stop_log();
}
break;
default:
/* silently ignore */
break;
}
}
void handle_status(struct vehicle_status_s *status)
{
if (status->flag_system_armed != flag_system_armed) {
flag_system_armed = status->flag_system_armed;
if (flag_system_armed) {
sdlog2_start_log();
} else {
sdlog2_stop_log();
}
}
}
Reference in New Issue View Git Blame Copy Permalink