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ardupilot/libraries/AP_Logger/AP_Logger_SITL.cpp

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AP_Logger: revived block based logging
2019-01-18 18:45:36 -04:00
/*
backend for SITL emulation of block logging
*/
#include "AP_Logger_SITL.h"
#include <AP_HAL/AP_HAL.h>
AP_Logger: allow each backend to be compiled out
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#if HAL_LOGGING_SITL_ENABLED
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#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <assert.h>
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#include <stdio.h>
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#define DF_PAGE_SIZE 256UL
#define DF_PAGE_PER_SECTOR 16 // 4k sectors
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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#define DF_PAGE_PER_BLOCK 256 // 4k sectors
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#define DF_NUM_PAGES 65536UL
#define ERASE_TIME_MS 10000
extern const AP_HAL::HAL& hal;
void AP_Logger_SITL::Init()
{
if (flash_fd == 0) {
AP_logger: rename dataflash to logger and refactor the filename logger.bin
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flash_fd = open(filename, O_RDWR|O_CLOEXEC, 0777);
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if (flash_fd == -1) {
AP_logger: rename dataflash to logger and refactor the filename logger.bin
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flash_fd = open(filename, O_RDWR | O_CREAT | O_CLOEXEC, 0777);
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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if (ftruncate(flash_fd, DF_PAGE_SIZE*uint32_t(DF_NUM_PAGES)) != 0) {
AP_HAL::panic("Failed to create %s", filename);
}
AP_Logger: revived block based logging
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}
}
df_PageSize = DF_PAGE_SIZE;
df_PagePerSector = DF_PAGE_PER_SECTOR;
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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df_PagePerBlock = DF_PAGE_PER_BLOCK;
AP_Logger: revived block based logging
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df_NumPages = DF_NUM_PAGES;
AP_Logger_Block::Init();
}
bool AP_Logger_SITL::CardInserted(void) const
{
return df_NumPages > 0;
}
void AP_Logger_SITL::PageToBuffer(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pread(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash read");
}
}
void AP_Logger_SITL::BufferToPage(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pwrite(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash write");
}
}
void AP_Logger_SITL::SectorErase(uint32_t SectorAdr)
{
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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uint8_t fill[DF_PAGE_SIZE*DF_PAGE_PER_BLOCK];
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memset(fill, 0xFF, sizeof(fill));
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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if (pwrite(flash_fd, fill, sizeof(fill), SectorAdr*DF_PAGE_PER_BLOCK*DF_PAGE_SIZE) != sizeof(fill)) {
AP_Logger: revived block based logging
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printf("Failed sector erase");
}
}
AP_Logger: mavlink backend needs to be the last backend be really careful to catch aborted erases take care to protect shared structures in io thread if flash corruption is detected try and recover whole files overwrite format in erase to make sure erase happens output useful messages at critical times a block is 64k a sector is 4k, rename internal variables appropriately cope with log wrapping when sending log listings over mavlink
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void AP_Logger_SITL::Sector4kErase(uint32_t SectorAdr)
{
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
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uint8_t fill[DF_PAGE_SIZE*DF_PAGE_PER_SECTOR];
memset(fill, 0xFF, sizeof(fill));
if (pwrite(flash_fd, fill, sizeof(fill), SectorAdr*DF_PAGE_PER_SECTOR*DF_PAGE_SIZE) != sizeof(fill)) {
printf("Failed sector 4k erase");
}
AP_Logger: mavlink backend needs to be the last backend be really careful to catch aborted erases take care to protect shared structures in io thread if flash corruption is detected try and recover whole files overwrite format in erase to make sure erase happens output useful messages at critical times a block is 64k a sector is 4k, rename internal variables appropriately cope with log wrapping when sending log listings over mavlink
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}
AP_Logger: revived block based logging
2019-01-18 18:45:36 -04:00
void AP_Logger_SITL::StartErase()
{
AP_Logger: make block logger conform to mavlink expectations of numbering add support for log time to block logger refactor rotation into backed. Don't start logs when erasing correct log start logic separate read and write points so that requesting log information does not corrupt the current log when starting a new log stop logging first clear the write buffer when starting a new log insert utc time when requesting info for the current log stop logging and request formats again when starting a new log cope with erase happening while we are logging keep pushing out startup messages even when format messages are done don't log to the gcs in the io thread don't start new logs in the io thread don't validate logs while erasing flush logs when stopping logging account for page header when calculating logs sizes don't return data when asked for more data than in the log optimize locking and use separate semaphore to mediate ring buffer access stop logging when the chip is full and send a notification calculate logs sizes correctly even when they wrap read log data correctly even when it wraps add stats support to block logger reset dropped when starting a new log fail logging when the chip is full refactor critical bufferspace checks increase messagewriter budget to 250us and to 300us for FMT
2020-05-05 14:00:54 -03:00
for (uint32_t i=0; i<DF_NUM_PAGES/DF_PAGE_PER_BLOCK; i++) {
AP_Logger: revived block based logging
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SectorErase(i);
}
erase_started_ms = AP_HAL::millis();
}
bool AP_Logger_SITL::InErase()
{
if (erase_started_ms == 0) {
return false;
}
uint32_t now = AP_HAL::millis();
if (now - erase_started_ms < ERASE_TIME_MS) {
return true;
}
erase_started_ms = 0;
return false;
}
AP_Logger: allow each backend to be compiled out
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#endif // HAL_LOGGING_SITL_ENABLED