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c264d6bb99792fe166bf045dc28a79890137d226
PX4-Autopilot/src/modules/sdlog2/sdlog2.c
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Lorenz Meier c264d6bb99 SDLOG2: Store load / mem use post-flight
2015-08-22 15:27:05 +02:00

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/****************************************************************************
*
* Copyright (c) 2012-2015 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 <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/prctl.h>
#include <sys/statfs.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <time.h>
#include <drivers/drv_range_finder.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_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_controls.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/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.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 <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/encoders.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/time_offset.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <systemlib/git_version.h>
#include <systemlib/printload.h>
#include <version/version.h>
#include <mavlink/mavlink_log.h>
#include "logbuffer.h"
#include "sdlog2_format.h"
#include "sdlog2_messages.h"
#define PX4_EPOCH_SECS 1234567890ULL
/**
* Logging rate.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 sets the minimum rate,
* any other value is interpreted as rate in Hertz. This
* parameter is only read out before logging starts (which
* commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_RATE, -1);
/**
* Enable extended logging mode.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 disables extended
* logging mode, a value of 1 enables it. This
* parameter is only read out before logging starts
* (which commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_EXT, -1);
/**
* Use timestamps only if GPS 3D fix is available
*
* A value of 1 constrains the log folder creation
* to only use the time stamp if a 3D GPS lock is
* present.
*
* @min 0
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
log_msgs_skipped++; \
}
#define 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;
static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
static bool _extended_logging = false;
static bool _gpstime_only = false;
#define MOUNTPOINT "/fs/microsd"
static const char *mountpoint = MOUNTPOINT;
static const char *log_root = MOUNTPOINT "/log";
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 log_dir[32];
/* 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 = 0;
/* 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;
/**
* 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);
/**
* 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);
static int file_copy(const char *file_old, const char *file_new);
/**
* 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_utc_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);
}
errx(1, "usage: sdlog2 {start|stop|status|on|off} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
"\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");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
main_thread_should_exit = false;
deamon_task = task_spawn_cmd("sdlog2",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
3000,
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;
}
}
exit(!(i < max_wait_steps));
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
warnx("not started");
}
main_thread_should_exit = true;
exit(0);
}
if (!thread_running) {
warnx("not started\n");
return 1;
}
if (!strcmp(argv[1], "status")) {
sdlog2_status();
return 0;
}
if (!strcmp(argv[1], "on")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 1;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
return 0;
}
if (!strcmp(argv[1], "off")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 2;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
return 0;
}
sdlog2_usage("unrecognized command");
exit(1);
}
bool get_log_time_utc_tt(struct tm *tt, bool boot_time) {
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
time_t utc_time_sec;
if (_gpstime_only) {
utc_time_sec = gps_time / 1e6;
} else {
utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
}
if (utc_time_sec > PX4_EPOCH_SECS) {
/* strip the time elapsed since boot */
if (boot_time) {
utc_time_sec -= hrt_absolute_time() / 1e6;
}
struct tm *ttp = gmtime_r(&utc_time_sec, tt);
return (ttp != NULL);
} else {
return false;
}
}
int create_log_dir()
{
/* create dir on sdcard if needed */
uint16_t dir_number = 1; // start with dir sess001
int mkdir_ret;
struct tm tt;
bool time_ok = get_log_time_utc_tt(&tt, true);
if (log_name_timestamp && time_ok) {
int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root);
strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt);
mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
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 */
while (dir_number <= MAX_NO_LOGFOLDER) {
/* format log dir: e.g. /fs/microsd/sess001 */
sprintf(log_dir, "%s/sess%03u", log_root, dir_number);
mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret == 0) {
warnx("log dir created: %s", log_dir);
break;
} else if (errno != EEXIST) {
warn("failed creating new dir: %s", log_dir);
return -1;
}
/* dir exists already */
dir_number++;
continue;
}
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 */
warnx("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_fd, "[sdlog2] log dir: %s", log_dir);
return 0;
}
int open_log_file()
{
/* string to hold the path to the log */
char log_file_name[32] = "";
char log_file_path[64] = "";
struct tm tt;
bool time_ok = get_log_time_utc_tt(&tt, false);
/* start logging if we have a valid time and the time is not in the past */
if (log_name_timestamp && 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_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
if (fd < 0) {
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name);
} else {
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] starting: %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[32] = "";
char log_file_path[64] = "";
struct tm tt;
bool time_ok = get_log_time_utc_tt(&tt, false);
if (log_name_timestamp && time_ok) {
strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt);
snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
} 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);
snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, 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_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
if (fd < 0) {
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name);
}
return fd;
}
static void *logwriter_thread(void *arg)
{
/* set name */
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;
err(1, "error writing log file");
}
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_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
exit(1);
}
/* 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);
struct sched_param param;
/* low priority, as this is expensive disk I/O */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
(void)pthread_attr_setschedparam(&logwriter_attr, &param);
pthread_attr_setstacksize(&logwriter_attr, 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)) {
errx(1, "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;
}
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;
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);
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] logging stopped");
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_git_version, sizeof(log_msg_VER.body.fw_git));
strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch));
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));
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)
{
bool updated = false;
if (*handle < 0) {
if (OK == orb_exists(topic, 0)) {
*handle = orb_subscribe(topic);
/* copy first data */
if (*handle >= 0) {
orb_copy(topic, *handle, buffer);
updated = true;
}
}
} else {
orb_check(*handle, &updated);
if (updated) {
orb_copy(topic, *handle, buffer);
}
}
return updated;
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("ERR: log stream, start mavlink app first");
}
/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
useconds_t sleep_delay = 20000;
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;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
r = 1;
}
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 't':
log_name_timestamp = true;
break;
case 'x':
_extended_logging = 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);
}
err_flag = true;
break;
default:
warnx("unrecognized flag");
err_flag = true;
break;
}
}
if (err_flag) {
sdlog2_usage(NULL);
}
gps_time = 0;
/* interpret logging params */
param_t log_rate_ph = param_find("SDLOG_RATE");
if (log_rate_ph != PARAM_INVALID) {
int32_t param_log_rate;
param_get(log_rate_ph, &param_log_rate);
if (param_log_rate > 0) {
/* we can't do more than ~ 500 Hz, even with a massive buffer */
if (param_log_rate > 500) {
param_log_rate = 500;
}
sleep_delay = 1000000 / param_log_rate;
} else if (param_log_rate == 0) {
/* we need at minimum 10 Hz to be able to see anything */
sleep_delay = 1000000 / 10;
}
}
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, &param_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, &param_log_gpstime);
if (param_log_gpstime > 0) {
_gpstime_only = true;
} else if (param_log_gpstime == 0) {
_gpstime_only = false;
}
/* any other value means to ignore the parameter, so no else case */
}
if (check_free_space() != OK) {
errx(1, "ERR: MicroSD almost full");
}
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret != 0 && errno != EEXIST) {
err(1, "ERR: failed creating log dir: %s", log_root);
}
/* copy conversion scripts */
const char *converter_in = "/etc/logging/conv.zip";
char *converter_out = malloc(64);
snprintf(converter_out, 64, "%s/conv.zip", log_root);
if (file_copy(converter_in, converter_out) != OK) {
warn("unable to copy conversion scripts");
}
free(converter_out);
/* 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");
}
struct vehicle_status_s buf_status;
struct vehicle_gps_position_s buf_gps_pos;
memset(&buf_status, 0, sizeof(buf_status));
memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
/* 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_vicon_position_s vicon_pos;
struct vision_position_estimate_s vision_pos;
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 vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
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 encoders_s encoders;
struct vtol_vehicle_status_s vtol_status;
struct time_offset_s time_offset;
struct mc_att_ctrl_status_s mc_att_ctrl_status;
} 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_OUT0_s log_OUT0;
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_PWR_s log_PWR;
struct log_VICN_s log_VICN;
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;
} 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_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;
int sat_info_sub;
int vicon_pos_sub;
int vision_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int range_finder_sub;
int estimator_status_sub;
int tecs_status_sub;
int system_power_sub;
int servorail_status_sub;
int wind_sub;
int encoders_sub;
int tsync_sub;
int mc_att_ctrl_status_sub;
} subs;
subs.cmd_sub = -1;
subs.status_sub = -1;
subs.vtol_status_sub = -1;
subs.gps_pos_sub = -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_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.vicon_pos_sub = -1;
subs.vision_pos_sub = -1;
subs.flow_sub = -1;
subs.rc_sub = -1;
subs.airspeed_sub = -1;
subs.esc_sub = -1;
subs.global_vel_sp_sub = -1;
subs.battery_sub = -1;
subs.range_finder_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.mc_att_ctrl_status_sub = -1;
subs.encoders_sub = -1;
/* add new topics HERE */
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
subs.telemetry_subs[i] = -1;
}
subs.sat_info_sub = -1;
/* close non-needed fd's */
/* close stdin */
close(0);
/* close stdout */
close(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;
hrt_abstime differential_pressure_timestamp = 0;
hrt_abstime barometer1_timestamp = 0;
hrt_abstime gyro1_timestamp = 0;
hrt_abstime accelerometer1_timestamp = 0;
hrt_abstime magnetometer1_timestamp = 0;
hrt_abstime gyro2_timestamp = 0;
hrt_abstime accelerometer2_timestamp = 0;
hrt_abstime magnetometer2_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 (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_utc_usec / 1e6;
}
}
sdlog2_start_log();
}
/* running, report */
thread_running = true;
while (!main_thread_should_exit) {
usleep(sleep_delay);
/* --- 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(ORB_ID(vehicle_gps_position), &subs.gps_pos_sub, &buf_gps_pos);
if (gps_pos_updated && log_name_timestamp) {
gps_time = buf_gps_pos.time_utc_usec / 1e6;
}
if (!logging_enabled) {
continue;
}
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 (status_updated) {
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = buf_status.main_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.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
log_msg.body.log_STAT.load = buf_status.load;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
/* --- 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.airspeed_tot = buf.vtol_status.airspeed_tot;
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);
}
/* --- 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 = 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);
}
}
/* --- SENSOR COMBINED --- */
if (copy_if_updated(ORB_ID(sensor_combined), &subs.sensor_sub, &buf.sensor)) {
bool write_IMU = false;
bool write_IMU1 = false;
bool write_IMU2 = false;
bool write_SENS = false;
bool write_SENS1 = false;
if (buf.sensor.timestamp != gyro_timestamp) {
gyro_timestamp = buf.sensor.timestamp;
write_IMU = true;
}
if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
write_IMU = true;
}
if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
write_IMU = true;
}
if (buf.sensor.baro_timestamp != barometer_timestamp) {
barometer_timestamp = buf.sensor.baro_timestamp;
write_SENS = true;
}
if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
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];
log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp;
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;
log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
if (buf.sensor.baro1_timestamp != barometer1_timestamp) {
barometer1_timestamp = buf.sensor.baro1_timestamp;
write_SENS1 = true;
}
if (write_SENS1) {
log_msg.msg_type = LOG_AIR1_MSG;
log_msg.body.log_SENS.baro_pres = buf.sensor.baro1_pres_mbar;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro1_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro1_temp_celcius;
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure1_pa;
log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure1_filtered_pa;
// XXX moving to AIR0-AIR2 instead of SENS
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
write_IMU1 = true;
}
if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
gyro1_timestamp = buf.sensor.gyro1_timestamp;
write_IMU1 = true;
}
if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
write_IMU1 = true;
}
if (write_IMU1) {
log_msg.msg_type = LOG_IMU1_MSG;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro1_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer1_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer1_temp;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
write_IMU2 = true;
}
if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
gyro2_timestamp = buf.sensor.gyro2_timestamp;
write_IMU2 = true;
}
if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
write_IMU2 = true;
}
if (write_IMU2) {
log_msg.msg_type = LOG_IMU2_MSG;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro2_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer2_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer2_temp;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
}
/* --- ATTITUDE --- */
if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.q_w = buf.att.q[0];
log_msg.body.log_ATT.q_x = buf.att.q[1];
log_msg.body.log_ATT.q_y = buf.att.q[2];
log_msg.body.log_ATT.q_z = buf.att.q[3];
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;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
/* --- 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(ORB_ID(actuator_outputs), &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 (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);
}
/* --- 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.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
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);
}
}
/* --- VICON POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_vicon_position), &subs.vicon_pos_sub, &buf.vicon_pos)) {
log_msg.msg_type = LOG_VICN_MSG;
log_msg.body.log_VICN.x = buf.vicon_pos.x;
log_msg.body.log_VICN.y = buf.vicon_pos.y;
log_msg.body.log_VICN.z = buf.vicon_pos.z;
log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch;
log_msg.body.log_VICN.roll = buf.vicon_pos.roll;
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
}
/* --- VISION POSITION --- */
if (copy_if_updated(ORB_ID(vision_position_estimate), &subs.vision_pos_sub, &buf.vision_pos)) {
log_msg.msg_type = LOG_VISN_MSG;
log_msg.body.log_VISN.x = buf.vision_pos.x;
log_msg.body.log_VISN.y = buf.vision_pos.y;
log_msg.body.log_VISN.z = buf.vision_pos.z;
log_msg.body.log_VISN.vx = buf.vision_pos.vx;
log_msg.body.log_VISN.vy = buf.vision_pos.vy;
log_msg.body.log_VISN.vz = buf.vision_pos.vz;
log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention
log_msg.body.log_VISN.qx = buf.vision_pos.q[1];
log_msg.body.log_VISN.qy = buf.vision_pos.q[2];
log_msg.body.log_VISN.qz = buf.vision_pos.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 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
log_msg.body.log_RC.channel_count = buf.rc.channel_count;
log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
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 = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
/* --- 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);
}
}
/* --- GLOBAL VELOCITY SETPOINT --- */
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), &subs.global_vel_sp_sub, &buf.global_vel_sp)) {
log_msg.msg_type = LOG_GVSP_MSG;
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
LOGBUFFER_WRITE_AND_COUNT(GVSP);
}
/* --- 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.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 < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (copy_if_updated(telemetry_status_orb_id[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);
}
}
/* --- BOTTOM DISTANCE --- */
if (copy_if_updated(ORB_ID(sensor_range_finder), &subs.range_finder_sub, &buf.range_finder)) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.range_finder.distance;
log_msg.body.log_DIST.bottom_rate = 0.0f;
log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0);
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.health_flags = buf.estimator_status.health_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), buf.estimator_status.states + maxcopy0, maxcopy1);
LOGBUFFER_WRITE_AND_COUNT(EST1);
}
/* --- 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.energyDistributionError = buf.tecs_status.energyDistributionError;
log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
log_msg.body.log_TECS.throttle_sp = buf.tecs_status.throttle_sp;
log_msg.body.log_TECS.pitch_sp = buf.tecs_status.pitch_sp;
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.covariance_north;
log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
LOGBUFFER_WRITE_AND_COUNT(WIND);
}
/* --- ENCODERS --- */
if (copy_if_updated(ORB_ID(encoders), &subs.encoders_sub, &buf.encoders)) {
log_msg.msg_type = LOG_ENCD_MSG;
log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1];
log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1];
LOGBUFFER_WRITE_AND_COUNT(ENCD);
}
/* --- TIMESYNC OFFSET --- */
if (copy_if_updated(ORB_ID(time_offset), &subs.tsync_sub, &buf.time_offset)) {
log_msg.msg_type = LOG_TSYN_MSG;
log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns;
LOGBUFFER_WRITE_AND_COUNT(TSYN);
}
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), &subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
log_msg.msg_type = LOG_MACS_MSG;
log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ;
LOGBUFFER_WRITE_AND_COUNT(MACS);
}
/* 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(lb.data);
thread_running = false;
return 0;
}
void sdlog2_status()
{
warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
warnx("time: gps: %u seconds", (unsigned)gps_time);
if (!logging_enabled) {
warnx("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;
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("ERR: open in");
return 1;
}
target = fopen(file_new, "w");
if (target == NULL) {
fclose(source);
warnx("ERR: open out");
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 OK;
}
int check_free_space()
{
/* use statfs to determine the number of blocks left */
FAR struct statfs statfs_buf;
if (statfs(mountpoint, &statfs_buf) != OK) {
errx(ERROR, "ERR: statfs");
}
/* use a threshold of 50 MiB */
if (statfs_buf.f_bavail < (int)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_and_console_log_critical(mavlink_fd,
"[sdlog2] 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 ERROR;
/* use a threshold of 100 MiB to send a warning */
} else if (!space_warning_sent && statfs_buf.f_bavail < (int)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_and_console_log_critical(mavlink_fd,
"[sdlog2] 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 OK;
}
void handle_command(struct vehicle_command_s *cmd)
{
int param;
/* request to set different system mode */
switch (cmd->command) {
case 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 == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR;
if (armed != flag_system_armed) {
flag_system_armed = armed;
if (flag_system_armed) {
sdlog2_start_log();
} else {
sdlog2_stop_log();
}
}
}
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