ardupilot/libraries/AP_Logger/AP_Logger_MAVLink.cpp

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/*
AP_Logger Remote(via MAVLink) logging
*/
#include "AP_Logger_MAVLink.h"
#if HAL_LOGGING_MAVLINK_ENABLED
#include "LogStructure.h"
#define REMOTE_LOG_DEBUGGING 0
#if REMOTE_LOG_DEBUGGING
#include <stdio.h>
# define Debug(fmt, args ...) do {fprintf(stderr, "%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#else
# define Debug(fmt, args ...)
#endif
#include <AP_InternalError/AP_InternalError.h>
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#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
// initialisation
void AP_Logger_MAVLink::Init()
{
_blocks = nullptr;
while (_blockcount >= 8) { // 8 is a *magic* number
_blocks = (struct dm_block *) calloc(_blockcount, sizeof(struct dm_block));
if (_blocks != nullptr) {
break;
}
_blockcount /= 2;
}
if (_blocks == nullptr) {
return;
}
free_all_blocks();
stats_init();
_initialised = true;
}
bool AP_Logger_MAVLink::logging_failed() const
{
return !_sending_to_client;
}
uint32_t AP_Logger_MAVLink::bufferspace_available() {
return (_blockcount_free * 200 + remaining_space_in_current_block());
}
uint8_t AP_Logger_MAVLink::remaining_space_in_current_block() const {
// note that _current_block *could* be NULL ATM.
return (MAVLINK_MSG_REMOTE_LOG_DATA_BLOCK_FIELD_DATA_LEN - _latest_block_len);
}
void AP_Logger_MAVLink::enqueue_block(dm_block_queue_t &queue, struct dm_block *block)
{
if (queue.youngest != nullptr) {
queue.youngest->next = block;
} else {
queue.oldest = block;
}
queue.youngest = block;
}
struct AP_Logger_MAVLink::dm_block *AP_Logger_MAVLink::dequeue_seqno(AP_Logger_MAVLink::dm_block_queue_t &queue, uint32_t seqno)
{
struct dm_block *prev = nullptr;
for (struct dm_block *block=queue.oldest; block != nullptr; block=block->next) {
if (block->seqno == seqno) {
if (prev == nullptr) {
if (queue.youngest == queue.oldest) {
queue.oldest = nullptr;
queue.youngest = nullptr;
} else {
queue.oldest = block->next;
}
} else {
if (queue.youngest == block) {
queue.youngest = prev;
}
prev->next = block->next;
}
block->next = nullptr;
return block;
}
prev = block;
}
return nullptr;
}
bool AP_Logger_MAVLink::free_seqno_from_queue(uint32_t seqno, dm_block_queue_t &queue)
{
struct dm_block *block = dequeue_seqno(queue, seqno);
if (block != nullptr) {
block->next = _blocks_free;
_blocks_free = block;
_blockcount_free++; // comment me out to expose a bug!
return true;
}
return false;
}
bool AP_Logger_MAVLink::WritesOK() const
{
if (!_sending_to_client) {
return false;
}
return true;
}
/* Write a block of data at current offset */
// DM_write: 70734 events, 0 overruns, 167806us elapsed, 2us avg, min 1us max 34us 0.620us rms
bool AP_Logger_MAVLink::_WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
{
if (!semaphore.take_nonblocking()) {
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_dropped++;
return false;
}
if (! WriteBlockCheckStartupMessages()) {
semaphore.give();
return false;
}
if (bufferspace_available() < size) {
if (_startup_messagewriter->finished()) {
// do not count the startup packets as being dropped...
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_dropped++;
}
semaphore.give();
return false;
}
uint16_t copied = 0;
while (copied < size) {
if (_current_block == nullptr) {
_current_block = next_block();
if (_current_block == nullptr) {
// should not happen - there's a sanity check above
INTERNAL_ERROR(AP_InternalError::error_t::logger_bad_current_block);
semaphore.give();
return false;
}
}
uint16_t remaining_to_copy = size - copied;
uint16_t _curr_remaining = remaining_space_in_current_block();
uint16_t to_copy = (remaining_to_copy > _curr_remaining) ? _curr_remaining : remaining_to_copy;
memcpy(&(_current_block->buf[_latest_block_len]), &((const uint8_t *)pBuffer)[copied], to_copy);
copied += to_copy;
_latest_block_len += to_copy;
if (_latest_block_len == MAVLINK_MSG_REMOTE_LOG_DATA_BLOCK_FIELD_DATA_LEN) {
//block full, mark it to be sent:
enqueue_block(_blocks_pending, _current_block);
_current_block = next_block();
}
}
semaphore.give();
return true;
}
//Get a free block
struct AP_Logger_MAVLink::dm_block *AP_Logger_MAVLink::next_block()
{
AP_Logger_MAVLink::dm_block *ret = _blocks_free;
if (ret != nullptr) {
_blocks_free = ret->next;
_blockcount_free--;
ret->seqno = _next_seq_num++;
ret->last_sent = 0;
ret->next = nullptr;
_latest_block_len = 0;
}
return ret;
}
void AP_Logger_MAVLink::free_all_blocks()
{
_blocks_free = nullptr;
_current_block = nullptr;
_blocks_pending.sent_count = 0;
_blocks_pending.oldest = _blocks_pending.youngest = nullptr;
_blocks_retry.sent_count = 0;
_blocks_retry.oldest = _blocks_retry.youngest = nullptr;
_blocks_sent.sent_count = 0;
_blocks_sent.oldest = _blocks_sent.youngest = nullptr;
// add blocks to the free stack:
for(uint8_t i=0; i < _blockcount; i++) {
_blocks[i].next = _blocks_free;
_blocks_free = &_blocks[i];
// this value doesn't really matter, but it stops valgrind
// complaining when acking blocks (we check seqno before
// state). Also, when we receive ACKs we check seqno, and we
// want to ack the *real* block zero!
_blocks[i].seqno = 9876543;
}
_blockcount_free = _blockcount;
_latest_block_len = 0;
}
void AP_Logger_MAVLink::stop_logging()
{
if (_sending_to_client) {
_sending_to_client = false;
_last_response_time = AP_HAL::millis();
}
}
void AP_Logger_MAVLink::handle_ack(const GCS_MAVLINK &link,
const mavlink_message_t &msg,
uint32_t seqno)
{
if (!_initialised) {
return;
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_STOP) {
Debug("Received stop-logging packet");
stop_logging();
return;
}
if(seqno == MAV_REMOTE_LOG_DATA_BLOCK_START) {
if (!_sending_to_client) {
Debug("Starting New Log");
free_all_blocks();
// _current_block = next_block();
// if (_current_block == nullptr) {
// Debug("No free blocks?!!!\n");
// return;
// }
stats_init();
_sending_to_client = true;
_target_system_id = msg.sysid;
_target_component_id = msg.compid;
_link = &link;
_next_seq_num = 0;
start_new_log_reset_variables();
_last_response_time = AP_HAL::millis();
Debug("Target: (%u/%u)", _target_system_id, _target_component_id);
}
return;
}
// check SENT blocks (VERY likely to be first on the list):
if (free_seqno_from_queue(seqno, _blocks_sent)) {
// celebrate
_last_response_time = AP_HAL::millis();
} else if(free_seqno_from_queue(seqno, _blocks_retry)) {
// party
_last_response_time = AP_HAL::millis();
} else {
// probably acked already and put on the free list.
}
}
void AP_Logger_MAVLink::remote_log_block_status_msg(const GCS_MAVLINK &link,
const mavlink_message_t& msg)
{
mavlink_remote_log_block_status_t packet;
mavlink_msg_remote_log_block_status_decode(&msg, &packet);
if (!semaphore.take_nonblocking()) {
return;
}
switch ((MAV_REMOTE_LOG_DATA_BLOCK_STATUSES)packet.status) {
case MAV_REMOTE_LOG_DATA_BLOCK_NACK:
handle_retry(packet.seqno);
break;
case MAV_REMOTE_LOG_DATA_BLOCK_ACK:
handle_ack(link, msg, packet.seqno);
break;
// we apparently have to handle an END enum entry, just drop it so we catch future additions
case MAV_REMOTE_LOG_DATA_BLOCK_STATUSES_ENUM_END:
break;
}
semaphore.give();
}
void AP_Logger_MAVLink::handle_retry(uint32_t seqno)
{
if (!_initialised || !_sending_to_client) {
return;
}
struct dm_block *victim = dequeue_seqno(_blocks_sent, seqno);
if (victim != nullptr) {
_last_response_time = AP_HAL::millis();
enqueue_block(_blocks_retry, victim);
}
}
void AP_Logger_MAVLink::stats_init() {
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_dropped = 0;
stats.resends = 0;
stats_reset();
}
void AP_Logger_MAVLink::stats_reset() {
stats.state_free = 0;
stats.state_free_min = -1; // unsigned wrap
stats.state_free_max = 0;
stats.state_pending = 0;
stats.state_pending_min = -1; // unsigned wrap
stats.state_pending_max = 0;
stats.state_retry = 0;
stats.state_retry_min = -1; // unsigned wrap
stats.state_retry_max = 0;
stats.state_sent = 0;
stats.state_sent_min = -1; // unsigned wrap
stats.state_sent_max = 0;
stats.collection_count = 0;
}
void AP_Logger_MAVLink::Write_logger_MAV(AP_Logger_MAVLink &logger_mav)
{
if (logger_mav.stats.collection_count == 0) {
return;
}
const struct log_MAV_Stats pkt{
LOG_PACKET_HEADER_INIT(LOG_MAV_STATS),
timestamp : AP_HAL::micros64(),
seqno : logger_mav._next_seq_num-1,
dropped : logger_mav._dropped,
retries : logger_mav._blocks_retry.sent_count,
resends : logger_mav.stats.resends,
state_free_avg : (uint8_t)(logger_mav.stats.state_free/logger_mav.stats.collection_count),
state_free_min : logger_mav.stats.state_free_min,
state_free_max : logger_mav.stats.state_free_max,
state_pending_avg : (uint8_t)(logger_mav.stats.state_pending/logger_mav.stats.collection_count),
state_pending_min : logger_mav.stats.state_pending_min,
state_pending_max : logger_mav.stats.state_pending_max,
state_sent_avg : (uint8_t)(logger_mav.stats.state_sent/logger_mav.stats.collection_count),
state_sent_min : logger_mav.stats.state_sent_min,
state_sent_max : logger_mav.stats.state_sent_max,
};
WriteBlock(&pkt,sizeof(pkt));
}
void AP_Logger_MAVLink::stats_log()
{
if (!_initialised) {
return;
}
if (stats.collection_count == 0) {
return;
}
Write_logger_MAV(*this);
#if REMOTE_LOG_DEBUGGING
printf("D:%d Retry:%d Resent:%d SF:%d/%d/%d SP:%d/%d/%d SS:%d/%d/%d SR:%d/%d/%d\n",
_dropped,
_blocks_retry.sent_count,
stats.resends,
stats.state_free_min,
stats.state_free_max,
stats.state_free/stats.collection_count,
stats.state_pending_min,
stats.state_pending_max,
stats.state_pending/stats.collection_count,
stats.state_sent_min,
stats.state_sent_max,
stats.state_sent/stats.collection_count,
stats.state_retry_min,
stats.state_retry_max,
stats.state_retry/stats.collection_count
);
#endif
stats_reset();
}
uint8_t AP_Logger_MAVLink::stack_size(struct dm_block *stack)
{
uint8_t ret = 0;
for (struct dm_block *block=stack; block != nullptr; block=block->next) {
ret++;
}
return ret;
}
uint8_t AP_Logger_MAVLink::queue_size(dm_block_queue_t queue)
{
return stack_size(queue.oldest);
}
void AP_Logger_MAVLink::stats_collect()
{
if (!_initialised) {
return;
}
if (!semaphore.take_nonblocking()) {
return;
}
uint8_t pending = queue_size(_blocks_pending);
uint8_t sent = queue_size(_blocks_sent);
uint8_t retry = queue_size(_blocks_retry);
uint8_t sfree = stack_size(_blocks_free);
if (sfree != _blockcount_free) {
INTERNAL_ERROR(AP_InternalError::error_t::logger_blockcount_mismatch);
}
semaphore.give();
stats.state_pending += pending;
stats.state_sent += sent;
stats.state_free += sfree;
stats.state_retry += retry;
if (pending < stats.state_pending_min) {
stats.state_pending_min = pending;
}
if (pending > stats.state_pending_max) {
stats.state_pending_max = pending;
}
if (retry < stats.state_retry_min) {
stats.state_retry_min = retry;
}
if (retry > stats.state_retry_max) {
stats.state_retry_max = retry;
}
if (sent < stats.state_sent_min) {
stats.state_sent_min = sent;
}
if (sent > stats.state_sent_max) {
stats.state_sent_max = sent;
}
if (sfree < stats.state_free_min) {
stats.state_free_min = sfree;
}
if (sfree > stats.state_free_max) {
stats.state_free_max = sfree;
}
stats.collection_count++;
}
/* while we "successfully" send log blocks from a queue, move them to
* the sent list. DO NOT call this for blocks already sent!
*/
bool AP_Logger_MAVLink::send_log_blocks_from_queue(dm_block_queue_t &queue)
{
uint8_t sent_count = 0;
while (queue.oldest != nullptr) {
if (sent_count++ > _max_blocks_per_send_blocks) {
return false;
}
if (! send_log_block(*queue.oldest)) {
return false;
}
queue.sent_count++;
struct AP_Logger_MAVLink::dm_block *tmp = dequeue_seqno(queue,queue.oldest->seqno);
if (tmp != nullptr) { // should never be nullptr
enqueue_block(_blocks_sent, tmp);
} else {
INTERNAL_ERROR(AP_InternalError::error_t::logger_dequeue_failure);
}
}
return true;
}
void AP_Logger_MAVLink::push_log_blocks()
{
if (!_initialised || !_sending_to_client) {
return;
}
AP_Logger_Backend::WriteMoreStartupMessages();
if (!semaphore.take_nonblocking()) {
return;
}
if (! send_log_blocks_from_queue(_blocks_retry)) {
semaphore.give();
return;
}
if (! send_log_blocks_from_queue(_blocks_pending)) {
semaphore.give();
return;
}
semaphore.give();
}
void AP_Logger_MAVLink::do_resends(uint32_t now)
{
if (!_initialised || !_sending_to_client) {
return;
}
uint8_t count_to_send = 5;
if (_blockcount < count_to_send) {
count_to_send = _blockcount;
}
uint32_t oldest = now - 100; // 100 milliseconds before resend. Hmm.
while (count_to_send-- > 0) {
if (!semaphore.take_nonblocking()) {
return;
}
for (struct dm_block *block=_blocks_sent.oldest; block != nullptr; block=block->next) {
// only want to send blocks every now-and-then:
if (block->last_sent < oldest) {
if (! send_log_block(*block)) {
// failed to send the block; try again later....
semaphore.give();
return;
}
stats.resends++;
}
}
semaphore.give();
}
}
// NOTE: any functions called from these periodic functions MUST
// handle locking of the blocks structures by taking the semaphore
// appropriately!
void AP_Logger_MAVLink::periodic_10Hz(const uint32_t now)
{
do_resends(now);
stats_collect();
}
void AP_Logger_MAVLink::periodic_1Hz()
{
if (rate_limiter == nullptr && (_front._params.mav_ratemax > 0 || _front._log_pause)) {
// setup rate limiting if log rate max > 0Hz or log pause of streaming entries is requested
rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.mav_ratemax);
}
if (_sending_to_client &&
_last_response_time + 10000 < _last_send_time) {
// other end appears to have timed out!
Debug("Client timed out");
_sending_to_client = false;
return;
}
stats_log();
}
//TODO: handle full txspace properly
bool AP_Logger_MAVLink::send_log_block(struct dm_block &block)
{
if (!_initialised) {
return false;
}
if (_link == nullptr) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return false;
}
// don't completely fill buffers - and also ensure there's enough
// room to send at least one packet:
const uint16_t min_payload_space = 500;
static_assert(MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK_LEN <= min_payload_space,
"minimum allocated space is less than payload length");
if (_link->txspace() < min_payload_space) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// deliberately fail 10% of the time in SITL:
if ((rand() % 100 + 1) < 10) {
return false;
}
#endif
#if DF_MAVLINK_DISABLE_INTERRUPTS
void *istate = hal.scheduler->disable_interrupts_save();
#endif
// DM_packing: 267039 events, 0 overruns, 8440834us elapsed, 31us avg, min 31us max 32us 0.488us rms
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(_link->get_chan());
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
#if DF_MAVLINK_DISABLE_INTERRUPTS
hal.scheduler->restore_interrupts(istate);
#endif
block.last_sent = AP_HAL::millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = AP_HAL::millis();
_mavlink_resend_uart(_link->get_chan(), &msg);
return true;
}
#endif