/* ************************************************************ */ /* Test for AP_Logger Log library */ /* ************************************************************ */ #pragma once #include "AP_Logger_config.h" #include #include #include #include #include #include #if HAL_LOGGER_FENCE_ENABLED #include #endif #include #include "LoggerMessageWriter.h" class AP_Logger_Backend; // do not do anything here apart from add stuff; maintaining older // entries means log analysis is easier enum class LogEvent : uint8_t { ARMED = 10, DISARMED = 11, AUTO_ARMED = 15, LAND_COMPLETE_MAYBE = 17, LAND_COMPLETE = 18, NOT_LANDED = 28, LOST_GPS = 19, FLIP_START = 21, FLIP_END = 22, SET_HOME = 25, SET_SIMPLE_ON = 26, SET_SIMPLE_OFF = 27, SET_SUPERSIMPLE_ON = 29, AUTOTUNE_INITIALISED = 30, AUTOTUNE_OFF = 31, AUTOTUNE_RESTART = 32, AUTOTUNE_SUCCESS = 33, AUTOTUNE_FAILED = 34, AUTOTUNE_REACHED_LIMIT = 35, AUTOTUNE_PILOT_TESTING = 36, AUTOTUNE_SAVEDGAINS = 37, SAVE_TRIM = 38, SAVEWP_ADD_WP = 39, FENCE_ENABLE = 41, FENCE_DISABLE = 42, ACRO_TRAINER_OFF = 43, ACRO_TRAINER_LEVELING = 44, ACRO_TRAINER_LIMITED = 45, GRIPPER_GRAB = 46, GRIPPER_RELEASE = 47, PARACHUTE_DISABLED = 49, PARACHUTE_ENABLED = 50, PARACHUTE_RELEASED = 51, LANDING_GEAR_DEPLOYED = 52, LANDING_GEAR_RETRACTED = 53, MOTORS_EMERGENCY_STOPPED = 54, MOTORS_EMERGENCY_STOP_CLEARED = 55, MOTORS_INTERLOCK_DISABLED = 56, MOTORS_INTERLOCK_ENABLED = 57, ROTOR_RUNUP_COMPLETE = 58, // Heli only ROTOR_SPEED_BELOW_CRITICAL = 59, // Heli only EKF_ALT_RESET = 60, LAND_CANCELLED_BY_PILOT = 61, EKF_YAW_RESET = 62, AVOIDANCE_ADSB_ENABLE = 63, AVOIDANCE_ADSB_DISABLE = 64, AVOIDANCE_PROXIMITY_ENABLE = 65, AVOIDANCE_PROXIMITY_DISABLE = 66, GPS_PRIMARY_CHANGED = 67, // 68, 69, 70 were winch events ZIGZAG_STORE_A = 71, ZIGZAG_STORE_B = 72, LAND_REPO_ACTIVE = 73, STANDBY_ENABLE = 74, STANDBY_DISABLE = 75, FENCE_FLOOR_ENABLE = 80, FENCE_FLOOR_DISABLE = 81, // if the EKF's source input set is changed (e.g. via a switch or // a script), we log an event: EK3_SOURCES_SET_TO_PRIMARY = 85, EK3_SOURCES_SET_TO_SECONDARY = 86, EK3_SOURCES_SET_TO_TERTIARY = 87, AIRSPEED_PRIMARY_CHANGED = 90, SURFACED = 163, NOT_SURFACED = 164, BOTTOMED = 165, NOT_BOTTOMED = 166, }; enum class LogDataID : uint8_t { AP_STATE = 7, // SYSTEM_TIME_SET = 8, INIT_SIMPLE_BEARING = 9, }; enum class LogErrorSubsystem : uint8_t { MAIN = 1, RADIO = 2, COMPASS = 3, OPTFLOW = 4, // not used FAILSAFE_RADIO = 5, FAILSAFE_BATT = 6, FAILSAFE_GPS = 7, // not used FAILSAFE_GCS = 8, FAILSAFE_FENCE = 9, FLIGHT_MODE = 10, GPS = 11, CRASH_CHECK = 12, FLIP = 13, AUTOTUNE = 14, // not used PARACHUTES = 15, EKFCHECK = 16, FAILSAFE_EKFINAV = 17, BARO = 18, CPU = 19, FAILSAFE_ADSB = 20, TERRAIN = 21, NAVIGATION = 22, FAILSAFE_TERRAIN = 23, EKF_PRIMARY = 24, THRUST_LOSS_CHECK = 25, FAILSAFE_SENSORS = 26, FAILSAFE_LEAK = 27, PILOT_INPUT = 28, FAILSAFE_VIBE = 29, INTERNAL_ERROR = 30, FAILSAFE_DEADRECKON = 31 }; // bizarrely this enumeration has lots of duplicate values, offering // very little in the way of typesafety enum class LogErrorCode : uint8_t { // general error codes ERROR_RESOLVED = 0, FAILED_TO_INITIALISE = 1, UNHEALTHY = 4, // subsystem specific error codes -- radio RADIO_LATE_FRAME = 2, // subsystem specific error codes -- failsafe_thr, batt, gps FAILSAFE_RESOLVED = 0, FAILSAFE_OCCURRED = 1, // subsystem specific error codes -- main MAIN_INS_DELAY = 1, // subsystem specific error codes -- crash checker CRASH_CHECK_CRASH = 1, CRASH_CHECK_LOSS_OF_CONTROL = 2, // subsystem specific error codes -- flip FLIP_ABANDONED = 2, // subsystem specific error codes -- terrain MISSING_TERRAIN_DATA = 2, // subsystem specific error codes -- navigation FAILED_TO_SET_DESTINATION = 2, RESTARTED_RTL = 3, FAILED_CIRCLE_INIT = 4, DEST_OUTSIDE_FENCE = 5, RTL_MISSING_RNGFND = 6, // subsystem specific error codes -- internal_error INTERNAL_ERRORS_DETECTED = 1, // parachute failed to deploy because of low altitude or landed PARACHUTE_TOO_LOW = 2, PARACHUTE_LANDED = 3, // EKF check definitions EKFCHECK_BAD_VARIANCE = 2, EKFCHECK_VARIANCE_CLEARED = 0, // Baro specific error codes BARO_GLITCH = 2, BAD_DEPTH = 3, // sub-only // GPS specific error coces GPS_GLITCH = 2, }; class AP_Logger { friend class AP_Logger_Backend; // for _num_types friend class AP_Logger_RateLimiter; public: FUNCTOR_TYPEDEF(vehicle_startup_message_Writer, void); AP_Logger(const AP_Int32 &log_bitmask); /* Do not allow copies */ CLASS_NO_COPY(AP_Logger); // get singleton instance static AP_Logger *get_singleton(void) { return _singleton; } // initialisation void Init(const struct LogStructure *structure, uint8_t num_types); void set_num_types(uint8_t num_types) { _num_types = num_types; } bool CardInserted(void); bool _log_pause; // pause logging if aux switch is active and log rate limit enabled void log_pause(bool value) { _log_pause = value; } // erase handling void EraseAll(); /* Write a block of data at current offset */ void WriteBlock(const void *pBuffer, uint16_t size); /* Write block of data at current offset and return true if first backend succeeds*/ bool WriteBlock_first_succeed(const void *pBuffer, uint16_t size); /* Write an *important* block of data at current offset */ void WriteCriticalBlock(const void *pBuffer, uint16_t size); /* Write a block of replay data at current offset */ bool WriteReplayBlock(uint8_t msg_id, const void *pBuffer, uint16_t size); // high level interface uint16_t find_last_log() const; void get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page); uint16_t get_num_logs(void); void setVehicle_Startup_Writer(vehicle_startup_message_Writer writer); void PrepForArming(); void EnableWrites(bool enable) { _writes_enabled = enable; } bool WritesEnabled() const { return _writes_enabled; } void StopLogging(); void Write_Parameter(const char *name, float value); void Write_Event(LogEvent id); void Write_Error(LogErrorSubsystem sub_system, LogErrorCode error_code); void Write_RCIN(void); void Write_RCOUT(void); void Write_RSSI(); void Write_Rally(); #if HAL_LOGGER_FENCE_ENABLED void Write_Fence(); #endif void Write_Power(void); void Write_Radio(const mavlink_radio_t &packet); void Write_Message(const char *message); void Write_MessageF(const char *fmt, ...); void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct); void Write_Compass(); void Write_Mode(uint8_t mode, const ModeReason reason); void Write_EntireMission(); void Write_Command(const mavlink_command_int_t &packet, uint8_t source_system, uint8_t source_component, MAV_RESULT result, bool was_command_long=false); void Write_Mission_Cmd(const AP_Mission &mission, const AP_Mission::Mission_Command &cmd); void Write_RallyPoint(uint8_t total, uint8_t sequence, const class RallyLocation &rally_point); void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point); void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp); void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); void Write(const char *name, const char *labels, const char *fmt, ...); void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...); void WriteStreaming(const char *name, const char *labels, const char *fmt, ...); void WriteStreaming(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...); void WriteCritical(const char *name, const char *labels, const char *fmt, ...); void WriteCritical(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...); void WriteV(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, va_list arg_list, bool is_critical=false, bool is_streaming=false); void Write_PID(uint8_t msg_type, const class AP_PIDInfo &info); // returns true if logging of a message should be attempted bool should_log(uint32_t mask) const; bool logging_started(void); #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX // currently only AP_Logger_File support this: void flush(void); #endif void handle_mavlink_msg(class GCS_MAVLINK &, const mavlink_message_t &msg); void periodic_tasks(); // may want to split this into GCS/non-GCS duties // We may need to make sure data is loggable before starting the // EKF; when allow_start_ekf we should be able to log that data bool allow_start_ekf() const; // number of blocks that have been dropped uint32_t num_dropped(void) const; // access to public parameters void set_force_log_disarmed(bool force_logging) { _force_log_disarmed = force_logging; } void set_long_log_persist(bool b) { _force_long_log_persist = b; } bool log_while_disarmed(void) const; bool in_log_persistance(void) const; uint8_t log_replay(void) const { return _params.log_replay; } vehicle_startup_message_Writer _vehicle_messages; enum class LogDisarmed : uint8_t { NONE = 0, LOG_WHILE_DISARMED = 1, LOG_WHILE_DISARMED_NOT_USB = 2, LOG_WHILE_DISARMED_DISCARD = 3, }; // parameter support static const struct AP_Param::GroupInfo var_info[]; struct { AP_Int8 backend_types; AP_Int16 file_bufsize; // in kilobytes AP_Int8 file_disarm_rot; AP_Enum log_disarmed; AP_Int8 log_replay; AP_Int8 mav_bufsize; // in kilobytes AP_Int16 file_timeout; // in seconds AP_Int16 min_MB_free; AP_Float file_ratemax; AP_Float mav_ratemax; AP_Float blk_ratemax; AP_Float disarm_ratemax; } _params; const struct LogStructure *structure(uint16_t num) const; const struct UnitStructure *unit(uint16_t num) const; const struct MultiplierStructure *multiplier(uint16_t num) const; // methods for mavlink SYS_STATUS message (send_sys_status) // these methods cover only the first logging backend used - // typically AP_Logger_File. bool logging_present() const; bool logging_enabled() const; bool logging_failed() const; // notify logging subsystem of an arming failure. This triggers // logging for HAL_LOGGER_ARM_PERSIST seconds void arming_failure() { _last_arming_failure_ms = AP_HAL::millis(); #if HAL_LOGGER_FILE_CONTENTS_ENABLED file_content_prepare_for_arming = true; #endif } void set_vehicle_armed(bool armed_state); bool vehicle_is_armed() const { return _armed; } void handle_log_send(); bool in_log_download() const; float quiet_nanf() const { return nanf("0x4152"); } // "AR" double quiet_nan() const { return nan("0x4152445550490a"); } // "ARDUPI" // returns true if msg_type is associated with a message bool msg_type_in_use(uint8_t msg_type) const; // calculate the length of a message using fields specified in // fmt; includes the message header int16_t Write_calc_msg_len(const char *fmt) const; // this structure looks much like struct LogStructure in // LogStructure.h, however we need to remember a pointer value for // efficiency of finding message types struct log_write_fmt { struct log_write_fmt *next; uint8_t msg_type; uint8_t msg_len; uint8_t sent_mask; // bitmask of backends sent to const char *name; const char *fmt; const char *labels; const char *units; const char *mults; } *log_write_fmts; // return (possibly allocating) a log_write_fmt for a name struct log_write_fmt *msg_fmt_for_name(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, const bool direct_comp = false, const bool copy_strings = false); // output a FMT message for each backend if not already done so void Safe_Write_Emit_FMT(log_write_fmt *f); // get count of number of times we have started logging uint8_t get_log_start_count(void) const { return _log_start_count; } // add a filename to list of files to log. The name must be a constant string, not allocated void log_file_content(const char *name); protected: const struct LogStructure *_structures; uint8_t _num_types; const struct UnitStructure *_units = log_Units; const struct MultiplierStructure *_multipliers = log_Multipliers; const uint8_t _num_units = (sizeof(log_Units) / sizeof(log_Units[0])); const uint8_t _num_multipliers = (sizeof(log_Multipliers) / sizeof(log_Multipliers[0])); /* Write a block with specified importance */ /* might be useful if you have a boolean indicating a message is * important... */ void WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical); private: #define LOGGER_MAX_BACKENDS 2 uint8_t _next_backend; AP_Logger_Backend *backends[LOGGER_MAX_BACKENDS]; const AP_Int32 &_log_bitmask; enum class Backend_Type : uint8_t { NONE = 0, FILESYSTEM = (1<<0), MAVLINK = (1<<1), BLOCK = (1<<2), }; /* * support for dynamic Write; user-supplies name, format, * labels and values in a single function call. */ HAL_Semaphore log_write_fmts_sem; // return (possibly allocating) a log_write_fmt for a name const struct log_write_fmt *log_write_fmt_for_msg_type(uint8_t msg_type) const; const struct LogStructure *structure_for_msg_type(uint8_t msg_type) const; // return a msg_type which is not currently in use (or -1 if none available) int16_t find_free_msg_type() const; // fill LogStructure with information about msg_type bool fill_log_write_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const; bool _armed; // state to help us not log unnecessary RCIN values: bool should_log_rcin2; void Write_Compass_instance(uint64_t time_us, uint8_t mag_instance); void backend_starting_new_log(const AP_Logger_Backend *backend); static AP_Logger *_singleton; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL bool validate_structure(const struct LogStructure *logstructure, int16_t offset); void validate_structures(const struct LogStructure *logstructures, const uint8_t num_types); void dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum); void dump_structures(const struct LogStructure *logstructures, const uint8_t num_types); bool assert_same_fmt_for_name(const log_write_fmt *f, const char *name, const char *labels, const char *units, const char *mults, const char *fmt) const; const char* unit_name(const uint8_t unit_id); double multiplier_name(const uint8_t multiplier_id); bool seen_ids[256] = { }; bool labels_string_is_good(const char *labels) const; #endif bool _writes_enabled:1; bool _force_log_disarmed:1; bool _force_long_log_persist:1; struct log_write_fmt_strings { char name[LS_NAME_SIZE]; char format[LS_FORMAT_SIZE]; char labels[LS_LABELS_SIZE]; char units[LS_UNITS_SIZE]; char multipliers[LS_MULTIPLIERS_SIZE]; }; // remember formats for replay void save_format_Replay(const void *pBuffer); // io thread support bool _io_thread_started; void start_io_thread(void); void io_thread(); bool check_crash_dump_save(void); #if HAL_LOGGER_FILE_CONTENTS_ENABLED // support for logging file content struct file_list { struct file_list *next; const char *filename; char log_filename[16]; }; struct FileContent { void reset(); void remove_and_free(file_list *victim); struct file_list *head, *tail; int fd{-1}; uint32_t offset; bool fast; uint8_t counter; HAL_Semaphore sem; }; FileContent normal_file_content; FileContent at_arm_file_content; // protect this with a semaphore? bool file_content_prepare_for_arming; void file_content_update(void); void prepare_at_arming_sys_file_logging(); #endif /* support for retrieving logs via mavlink: */ enum class TransferActivity { IDLE, // not doing anything, all file descriptors closed LISTING, // actively sending log_entry packets SENDING, // actively sending log_sending packets } transfer_activity = TransferActivity::IDLE; // last time we handled a log-transfer-over-mavlink message: uint32_t _last_mavlink_log_transfer_message_handled_ms; bool _warned_log_disarm; // true if we have sent a message warning to disarm for logging // next log list entry to send uint16_t _log_next_list_entry; // last log list entry to send uint16_t _log_last_list_entry; // number of log files uint16_t _log_num_logs; // log number for data send uint16_t _log_num_data; // offset in log uint32_t _log_data_offset; // size of log file uint32_t _log_data_size; // number of bytes left to send uint32_t _log_data_remaining; // start page of log data uint32_t _log_data_page; GCS_MAVLINK *_log_sending_link; HAL_Semaphore _log_send_sem; // last time arming failed, for backends uint32_t _last_arming_failure_ms; // count of number of times we've started logging // can be used by other subsystems to detect if they should log data uint8_t _log_start_count; void handle_log_message(class GCS_MAVLINK &, const mavlink_message_t &msg); void handle_log_request_list(class GCS_MAVLINK &, const mavlink_message_t &msg); void handle_log_request_data(class GCS_MAVLINK &, const mavlink_message_t &msg); void handle_log_request_erase(class GCS_MAVLINK &, const mavlink_message_t &msg); void handle_log_request_end(class GCS_MAVLINK &, const mavlink_message_t &msg); void handle_log_send_listing(); // handle LISTING state void handle_log_sending(); // handle SENDING state bool handle_log_send_data(); // send data chunk to client void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc); int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data); /* end support for retrieving logs via mavlink: */ // convenience method for writing out the identical NED PIDs - and // to save bytes void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); #if HAL_LOGGER_FILE_CONTENTS_ENABLED void log_file_content(FileContent &file_content, const char *filename); void file_content_update(FileContent &file_content); #endif }; namespace AP { AP_Logger &logger(); };