DataFlash: log dataflash-file statistics periodically

libraries/DataFlash/DataFlash_File.cpp

@@ -80,7 +80,9 @@ DataFlash_File::DataFlash_File(DataFlash_Class &front,
     _perf_fsync(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "DF_fsync")),
     _perf_errors(hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "DF_errors")),
     _perf_overruns(hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "DF_overruns"))
-{}
+{
+    df_stats_clear();
+}
 
 
 void DataFlash_File::Init()
@@ -196,6 +198,7 @@ void DataFlash_File::periodic_1Hz(const uint32_t now)
         _write_fd = -1;
         _initialised = false;
     }
+    df_stats_log();
 }
 
 void DataFlash_File::periodic_fullrate(const uint32_t now)
@@ -222,11 +225,11 @@ bool DataFlash_File::CardInserted(void) const
 int64_t DataFlash_File::disk_space_avail()
 {
 #if !DATAFLASH_FILE_MINIMAL
-    struct statfs stats;
+    struct statfs _stats;
-    if (statfs(_log_directory, &stats) < 0) {
+    if (statfs(_log_directory, &_stats) < 0) {
         return -1;
     }
-    return (((int64_t)stats.f_bavail) * stats.f_bsize);
+    return (((int64_t)_stats.f_bavail) * _stats.f_bsize);
 #else
     // return a fake disk space size
     return 100*1000*1000UL;
@@ -239,11 +242,11 @@ int64_t DataFlash_File::disk_space_avail()
 int64_t DataFlash_File::disk_space()
 {
 #if !DATAFLASH_FILE_MINIMAL
-    struct statfs stats;
+    struct statfs _stats;
-    if (statfs(_log_directory, &stats) < 0) {
+    if (statfs(_log_directory, &_stats) < 0) {
         return -1;
     }
-    return (((int64_t)stats.f_blocks) * stats.f_bsize);
+    return (((int64_t)_stats.f_blocks) * _stats.f_bsize);
 #else
     // return fake disk space size
     return 200*1000*1000UL;
@@ -573,6 +576,7 @@ bool DataFlash_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
     }
 
     _writebuf.write((uint8_t*)pBuffer, size);
+    df_stats_gather(size);
     semaphore->give();
     return true;
 }
@@ -1213,4 +1217,45 @@ void DataFlash_File::vehicle_was_disarmed()
     }
 }
 
+void DataFlash_File::Log_Write_DataFlash_Stats_File(const struct df_stats &_stats)
+{
+    struct log_DSF pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_DF_FILE_STATS),
+        time_us         : AP_HAL::micros64(),
+        dropped         : _dropped,
+        internal_errors : _internal_errors,
+        blocks          : _stats.blocks,
+        bytes           : _stats.bytes,
+        buf_space_min   : _stats.buf_space_min,
+        buf_space_max   : _stats.buf_space_max,
+        buf_space_avg   : (_stats.blocks) ? (_stats.buf_space_sigma / _stats.blocks) : 0,
+
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
+void DataFlash_File::df_stats_gather(const uint16_t bytes_written) {
+    const uint32_t space_remaining = _writebuf.space();
+    if (space_remaining < stats.buf_space_min) {
+        stats.buf_space_min = space_remaining;
+    }
+    if (space_remaining > stats.buf_space_max) {
+        stats.buf_space_max = space_remaining;
+    }
+    stats.buf_space_sigma += space_remaining;
+    stats.bytes += bytes_written;
+    stats.blocks++;
+}
+
+void DataFlash_File::df_stats_clear() {
+    memset(&stats, '\0', sizeof(stats));
+    stats.buf_space_min = -1;
+}
+
+void DataFlash_File::df_stats_log() {
+    Log_Write_DataFlash_Stats_File(stats);
+    df_stats_clear();
+}
+
+
 #endif // HAL_OS_POSIX_IO

libraries/DataFlash/DataFlash_File.h

@@ -174,6 +174,21 @@ private:
     AP_HAL::Util::perf_counter_t  _perf_overruns;
 
     const char *last_io_operation = "";
+
+    struct df_stats {
+        uint16_t blocks;
+        uint32_t bytes;
+        uint32_t buf_space_min;
+        uint32_t buf_space_max;
+        uint32_t buf_space_sigma;
+    };
+    struct df_stats stats;
+
+    void Log_Write_DataFlash_Stats_File(const struct df_stats &_stats);
+    void df_stats_gather(uint16_t bytes_written);
+    void df_stats_log();
+    void df_stats_clear();
+
 };
 
 #endif // HAL_OS_POSIX_IO

libraries/DataFlash/LogStructure.h

@@ -41,6 +41,18 @@ struct PACKED log_Parameter {
     float value;
 };
 
+struct PACKED log_DSF {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint32_t dropped;
+    uint8_t  internal_errors;
+    uint16_t blocks;
+    uint32_t bytes;
+    uint32_t buf_space_min;
+    uint32_t buf_space_max;
+    uint32_t buf_space_avg;
+};
+
 struct PACKED log_GPS {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1142,6 +1154,8 @@ Format characters in the format string for binary log messages
       "IMT3",IMT_FMT,IMT_LABELS }, \
     { LOG_ORGN_MSG, sizeof(log_ORGN), \
       "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
+    { LOG_DF_FILE_STATS, sizeof(log_DSF), \
+      "DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv" }, \
     { LOG_RPM_MSG, sizeof(log_RPM), \
       "RPM",  "Qff", "TimeUS,rpm1,rpm2" }, \
     { LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
@@ -1295,6 +1309,8 @@ enum LogMessages {
     LOG_AOA_SSA_MSG,
     LOG_BEACON_MSG,
     LOG_PROXIMITY_MSG,
+    LOG_DF_FILE_STATS,
+
 };
 
 enum LogOriginType {