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Replay: flush dataflash log on floating point exception

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This commit is contained in:
Peter Barker 2015-06-19 11:57:19 +10:00 committed by Andrew Tridgell
parent c5c39a77a3
commit 8bbeedb158
1 changed files with 20 additions and 1 deletions
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21
Tools/Replay/Replay.cpp
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@ -53,9 +53,10 @@
#include <AP_RangeFinder.h> #include <AP_RangeFinder.h>
#include <stdio.h> #include <stdio.h>
#include <errno.h> #include <errno.h>
#include <signal.h>
#include <unistd.h>
#include <getopt.h> // for optind only #include <getopt.h> // for optind only
#include <utility/getopt_cpp.h> #include <utility/getopt_cpp.h>
#include "Parameters.h" #include "Parameters.h"
#include "VehicleType.h" #include "VehicleType.h"
#include "MsgHandler.h" #include "MsgHandler.h"
@ -201,6 +202,8 @@ public:
filename("log.bin"), filename("log.bin"),
_vehicle(vehicle) { } _vehicle(vehicle) { }
void flush_dataflash(void);
private: private:
const char *filename; const char *filename;
ReplayVehicle &_vehicle; ReplayVehicle &_vehicle;
@ -289,6 +292,10 @@ enum {
OPT_TOLERANCE_VEL OPT_TOLERANCE_VEL
}; };
void Replay::flush_dataflash(void) {
_vehicle.dataflash.flush();
}
void Replay::_parse_command_line(uint8_t argc, char * const argv[]) void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{ {
const struct GetOptLong::option options[] = { const struct GetOptLong::option options[] = {
@ -469,6 +476,15 @@ int find_update_rate(const char *filename) {
exit(1); exit(1);
} }
// catch floating point exceptions
static void _replay_sig_fpe(int signum)
{
fprintf(stderr, "ERROR: Floating point exception - flushing dataflash...\n");
replay.flush_dataflash();
fprintf(stderr, "ERROR: ... and aborting.\n");
abort();
}
void Replay::setup() void Replay::setup()
{ {
::printf("Starting\n"); ::printf("Starting\n");
@ -480,6 +496,9 @@ void Replay::setup()
_parse_command_line(argc, argv); _parse_command_line(argc, argv);
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename); hal.console->printf("Processing log %s\n", filename);
if (update_rate == 0) { if (update_rate == 0) {