ardupilot/libraries/DataFlash/LogFile.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#include <AP_HAL.h>
#include "DataFlash.h"
#include <stdlib.h>
#include <AP_Param.h>
#include <AP_Math.h>

extern const AP_HAL::HAL& hal;

// This function determines the number of whole or partial log files in the DataFlash
// Wholly overwritten files are (of course) lost.
uint16_t DataFlash_Block::get_num_logs(void)
{
    uint16_t lastpage;
    uint16_t last;
    uint16_t first;

    if (find_last_page() == 1) {
        return 0;
    }

    StartRead(1);

    if (GetFileNumber() == 0xFFFF) {
        return 0;
    }

    lastpage = find_last_page();
    StartRead(lastpage);
    last = GetFileNumber();
    StartRead(lastpage + 2);
    first = GetFileNumber();
    if(first > last) {
        StartRead(1);
        first = GetFileNumber();
    }

    if (last == first) {
        return 1;
    }

    return (last - first + 1);
}


// This function starts a new log file in the DataFlash
uint16_t DataFlash_Block::start_new_log(void)
{
    uint16_t last_page = find_last_page();

    StartRead(last_page);
    //Serial.print("last page: ");	Serial.println(last_page);
    //Serial.print("file #: ");	Serial.println(GetFileNumber());
    //Serial.print("file page: ");	Serial.println(GetFilePage());

    if(find_last_log() == 0 || GetFileNumber() == 0xFFFF) {
        SetFileNumber(1);
        StartWrite(1);
        //Serial.println("start log from 0");
        return 1;
    }

    uint16_t new_log_num;

    // Check for log of length 1 page and suppress
    if(GetFilePage() <= 1) {
        new_log_num = GetFileNumber();
        // Last log too short, reuse its number
        // and overwrite it
        SetFileNumber(new_log_num);
        StartWrite(last_page);
    } else {
        new_log_num = GetFileNumber()+1;
        if (last_page == 0xFFFF) {
            last_page=0;
        }
        SetFileNumber(new_log_num);
        StartWrite(last_page + 1);
    }
    return new_log_num;
}

// This function finds the first and last pages of a log file
// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
void DataFlash_Block::get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page)
{
    uint16_t num = get_num_logs();
    uint16_t look;

    if (df_BufferIdx != 0) {
        FinishWrite();
    }

    if(num == 1)
    {
        StartRead(df_NumPages);
        if (GetFileNumber() == 0xFFFF)
        {
            start_page = 1;
            end_page = find_last_page_of_log((uint16_t)log_num);
        } else {
            end_page = find_last_page_of_log((uint16_t)log_num);
            start_page = end_page + 1;
        }

    } else {
        if(log_num==1) {
            StartRead(df_NumPages);
            if(GetFileNumber() == 0xFFFF) {
                start_page = 1;
            } else {
                start_page = find_last_page() + 1;
            }
        } else {
            if(log_num == find_last_log() - num + 1) {
                start_page = find_last_page() + 1;
            } else {
                look = log_num-1;
                do {
                    start_page = find_last_page_of_log(look) + 1;
                    look--;
                } while (start_page <= 0 && look >=1);
            }
        }
    }
    if (start_page == df_NumPages+1 || start_page == 0) {
        start_page = 1;
    }
    end_page = find_last_page_of_log(log_num);
    if (end_page == 0) {
        end_page = start_page;
    }
}

bool DataFlash_Block::check_wrapped(void)
{
    StartRead(df_NumPages);
    if(GetFileNumber() == 0xFFFF)
        return 0;
    else
        return 1;
}


// This funciton finds the last log number
uint16_t DataFlash_Block::find_last_log(void)
{
    uint16_t last_page = find_last_page();
    StartRead(last_page);
    return GetFileNumber();
}

// This function finds the last page of the last file
uint16_t DataFlash_Block::find_last_page(void)
{
    uint16_t look;
    uint16_t bottom = 1;
    uint16_t top = df_NumPages;
    uint32_t look_hash;
    uint32_t bottom_hash;
    uint32_t top_hash;

    StartRead(bottom);
    bottom_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();

    while(top-bottom > 1) {
        look = (top+bottom)/2;
        StartRead(look);
        look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
        if (look_hash >= 0xFFFF0000) look_hash = 0;

        if(look_hash < bottom_hash) {
            // move down
            top = look;
        } else {
            // move up
            bottom = look;
            bottom_hash = look_hash;
        }
    }

    StartRead(top);
    top_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();
    if (top_hash >= 0xFFFF0000) {
        top_hash = 0;
    }
    if (top_hash > bottom_hash) {
        return top;
    }

    return bottom;
}

// This function finds the last page of a particular log file
uint16_t DataFlash_Block::find_last_page_of_log(uint16_t log_number)
{
    uint16_t look;
    uint16_t bottom;
    uint16_t top;
    uint32_t look_hash;
    uint32_t check_hash;

    if(check_wrapped())
    {
        StartRead(1);
        bottom = GetFileNumber();
        if (bottom > log_number)
        {
            bottom = find_last_page();
            top = df_NumPages;
        } else {
            bottom = 1;
            top = find_last_page();
        }
    } else {
        bottom = 1;
        top = find_last_page();
    }

    check_hash = (int32_t)log_number<<16 | 0xFFFF;

    while(top-bottom > 1)
    {
        look = (top+bottom)/2;
        StartRead(look);
        look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
        if (look_hash >= 0xFFFF0000) look_hash = 0;

        if(look_hash > check_hash) {
            // move down
            top = look;
        } else {
            // move up
            bottom = look;
        }
    }

    StartRead(top);
    if (GetFileNumber() == log_number) return top;

    StartRead(bottom);
    if (GetFileNumber() == log_number) return bottom;

    return -1;
}

#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)

/*
  read and print a log entry using the format strings from the given structure
 */
void DataFlash_Class::_print_log_entry(uint8_t msg_type, 
                                       uint8_t num_types, 
                                       const struct LogStructure *structure,
                                       void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                                       AP_HAL::BetterStream *port)
{
    uint8_t i;
    for (i=0; i<num_types; i++) {
        if (msg_type == PGM_UINT8(&structure[i].msg_type)) {
            break;
        }
    }
    if (i == num_types) {
        port->printf_P(PSTR("UNKN, %u\n"), (unsigned)msg_type);
        return;
    }
    uint8_t msg_len = PGM_UINT8(&structure[i].msg_len) - 3;
    uint8_t pkt[msg_len];
    ReadBlock(pkt, msg_len);
    port->printf_P(PSTR("%S, "), structure[i].name);
    for (uint8_t ofs=0, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
        char fmt = PGM_UINT8(&structure[i].format[fmt_ofs]);
        switch (fmt) {
        case 'b': {
            port->printf_P(PSTR("%d"), (int)pkt[ofs]);
            ofs += 1;
            break;
        }
        case 'B': {
            port->printf_P(PSTR("%u"), (unsigned)pkt[ofs]);
            ofs += 1;
            break;
        }
        case 'h': {
            int16_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%d"), (int)v);
            ofs += sizeof(v);
            break;
        }
        case 'H': {
            uint16_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%u"), (unsigned)v);
            ofs += sizeof(v);
            break;
        }
        case 'i': {
            int32_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%ld"), (long)v);
            ofs += sizeof(v);
            break;
        }
        case 'I': {
            uint32_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%lu"), (unsigned long)v);
            ofs += sizeof(v);
            break;
        }
        case 'f': {
            float v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%f"), v);
            ofs += sizeof(v);
            break;
        }
        case 'c': {
            int16_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%.2f"), 0.01f*v);
            ofs += sizeof(v);
            break;
        }
        case 'C': {
            uint16_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%.2f"), 0.01f*v);
            ofs += sizeof(v);
            break;
        }
        case 'e': {
            int32_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%.2f"), 0.01f*v);
            ofs += sizeof(v);
            break;
        }
        case 'E': {
            uint32_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            port->printf_P(PSTR("%.2f"), 0.01f*v);
            ofs += sizeof(v);
            break;
        }
        case 'L': {
            int32_t v;
            memcpy(&v, &pkt[ofs], sizeof(v));
            print_latlon(port, v);
            ofs += sizeof(v);
            break;
        }
        case 'n': {
            char v[5];
            memcpy(&v, &pkt[ofs], sizeof(v));
            v[sizeof(v)-1] = 0;
            port->printf_P(PSTR("%s"), v);
            ofs += sizeof(v)-1;
            break;
        }
        case 'N': {
            char v[17];
            memcpy(&v, &pkt[ofs], sizeof(v));
            v[sizeof(v)-1] = 0;
            port->printf_P(PSTR("%s"), v);
            ofs += sizeof(v)-1;
            break;
        }
        case 'Z': {
            char v[65];
            memcpy(&v, &pkt[ofs], sizeof(v));
            v[sizeof(v)-1] = 0;
            port->printf_P(PSTR("%s"), v);
            ofs += sizeof(v)-1;
            break;
        }
        case 'M': {
            print_mode(port, pkt[ofs]);
            ofs += 1;
            break;
        }
        default:
            ofs = msg_len;
            break;
        }
        if (ofs < msg_len) {
            port->printf_P(PSTR(", "));
        }
    }
    port->println();
}

/*
  Read the log and print it on port
*/
void DataFlash_Block::LogReadProcess(uint16_t log_num,
                                     uint16_t start_page, uint16_t end_page, 
                                     uint8_t num_types,
                                     const struct LogStructure *structure,
                                     void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
                                     AP_HAL::BetterStream *port)
{
    uint8_t log_step = 0;
    uint16_t page = start_page;

    if (df_BufferIdx != 0) {
        FinishWrite();
    }

    StartRead(start_page);

	while (true) {
		uint8_t data;
        ReadBlock(&data, 1);

		// This is a state machine to read the packets
		switch(log_step) {
			case 0:
				if (data == HEAD_BYTE1) {
					log_step++;
                }
				break;

			case 1:
				if (data == HEAD_BYTE2) {
					log_step++;
                } else {
					log_step = 0;
				}
				break;

			case 2:
				log_step = 0;
                _print_log_entry(data, num_types, structure, print_mode, port);
                break;
		}
        uint16_t new_page = GetPage();
        if (new_page != page) {
            if (new_page == end_page || new_page == start_page) {
                return;
            }
            page = new_page;
        }
	}
}

/*
  dump header information from all log pages
 */
void DataFlash_Block::DumpPageInfo(AP_HAL::BetterStream *port)
{
    for (uint16_t count=1; count<=df_NumPages; count++) {
        StartRead(count);
        port->printf_P(PSTR("DF page, log file #, log page: %u,\t"), (unsigned)count);
        port->printf_P(PSTR("%u,\t"), (unsigned)GetFileNumber());
        port->printf_P(PSTR("%u\n"), (unsigned)GetFilePage());
    }
}

/*
  show information about the device
 */
void DataFlash_Block::ShowDeviceInfo(AP_HAL::BetterStream *port)
{
    if (!CardInserted()) {
        port->println_P(PSTR("No dataflash inserted"));
        return;
    }
    ReadManufacturerID();
    port->printf_P(PSTR("Manufacturer: 0x%02x   Device: 0x%04x\n"),
                    (unsigned)df_manufacturer,
                    (unsigned)df_device);
    port->printf_P(PSTR("NumPages: %u  PageSize: %u\n"),
                   (unsigned)df_NumPages+1,
                   (unsigned)df_PageSize);
}

/*
  list available log numbers
 */
void DataFlash_Block::ListAvailableLogs(AP_HAL::BetterStream *port)
{
    uint16_t num_logs = get_num_logs();
    int16_t last_log_num = find_last_log();
    uint16_t log_start = 0;
    uint16_t log_end = 0;

    if (num_logs == 0) {
        port->printf_P(PSTR("\nNo logs\n\n"));
        return;
    }
    port->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);

    for (uint16_t i=num_logs; i>=1; i--) {
        uint16_t last_log_start = log_start, last_log_end = log_end;
        uint16_t temp = last_log_num - i + 1;
        get_log_boundaries(temp, log_start, log_end);
        port->printf_P(PSTR("Log %u,    start %u,   end %u\n"), 
                       (unsigned)temp, 
                       (unsigned)log_start, 
                       (unsigned)log_end);
        if (last_log_start == log_start && last_log_end == log_end) {
            // we are printing bogus logs
            break;
        }
    }
    port->println();
}

// This function starts a new log file in the DataFlash, and writes
// the format of supported messages in the log, plus all parameters
uint16_t DataFlash_Class::StartNewLog(uint8_t num_types, const struct LogStructure *structures)
{
    uint16_t ret;
    ret = start_new_log();

    // write log formats so the log is self-describing
    for (uint8_t i=0; i<num_types; i++) {
        Log_Write_Format(&structures[i]);
        // avoid corrupting the APM1/APM2 dataflash by writing too fast
        hal.scheduler->delay(10);
    }

    // and all current parameters
    Log_Write_Parameters();
    return ret;
}

/*
  write a structure format to the log
 */
void DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
{
    struct log_Format pkt = {
        LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
        type   : PGM_UINT8(&s->msg_type),
        length : PGM_UINT8(&s->msg_len),
        name   : {},
        format : {},
        labels : {}
    };
    strncpy_P(pkt.name, s->name, sizeof(pkt.name));
    strncpy_P(pkt.format, s->format, sizeof(pkt.format));
    strncpy_P(pkt.labels, s->labels, sizeof(pkt.labels));
    WriteBlock(&pkt, sizeof(pkt));
}

/*
  write a parameter to the log
 */
void DataFlash_Class::Log_Write_Parameter(const char *name, float value)
{
    struct log_Parameter pkt = {
        LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
        name  : {},
        value : value
    };
    strncpy(pkt.name, name, sizeof(pkt.name));
    WriteBlock(&pkt, sizeof(pkt));
}

/*
  write a parameter to the log
 */
void DataFlash_Class::Log_Write_Parameter(const AP_Param *ap, 
                                          const AP_Param::ParamToken &token, 
                                          enum ap_var_type type)
{
    char name[16];
    ap->copy_name_token(token, &name[0], sizeof(name), true);
    Log_Write_Parameter(name, ap->cast_to_float(type));
}

/*
  write all parameters to the log - used when starting a new log so
  the log file has a full record of the parameters
 */
void DataFlash_Class::Log_Write_Parameters(void)
{
    AP_Param::ParamToken token;
    AP_Param *ap;
    enum ap_var_type type;

    for (ap=AP_Param::first(&token, &type);
         ap;
         ap=AP_Param::next_scalar(&token, &type)) {
        Log_Write_Parameter(ap, token, type);
        // slow down the parameter dump to prevent saturating
        // the dataflash write bandwidth
        hal.scheduler->delay(1);
    }
}



// Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
{
    struct log_GPS pkt = {
        LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
    	status        : (uint8_t)gps->status(),
    	gps_time      : gps->time,
        num_sats      : gps->num_sats,
        hdop          : gps->hdop,
        latitude      : gps->latitude,
        longitude     : gps->longitude,
        rel_altitude  : relative_alt,
        altitude      : gps->altitude,
        ground_speed  : gps->ground_speed,
        ground_course : gps->ground_course
    };
    WriteBlock(&pkt, sizeof(pkt));
}


// Write an raw accel/gyro data packet
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor *ins)
{
    Vector3f gyro = ins->get_gyro();
    Vector3f accel = ins->get_accel();
    struct log_IMU pkt = {
        LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
        gyro_x  : gyro.x,
        gyro_y  : gyro.y,
        gyro_z  : gyro.z,
        accel_x : accel.x,
        accel_y : accel.y,
        accel_z : accel.z
    };
    WriteBlock(&pkt, sizeof(pkt));
}

// Write a text message to the log
void DataFlash_Class::Log_Write_Message(const char *message)
{
    struct log_Message pkt = {
        LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
        msg  : {}
    };
    strncpy(pkt.msg, message, sizeof(pkt.msg));
    WriteBlock(&pkt, sizeof(pkt));
}

// Write a text message to the log
void DataFlash_Class::Log_Write_Message_P(const prog_char_t *message)
{
    struct log_Message pkt = {
        LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
        msg  : {}
    };
    strncpy_P(pkt.msg, message, sizeof(pkt.msg));
    WriteBlock(&pkt, sizeof(pkt));
}