mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
93b55e367e
this fixes two issues: The first issue that if we are missing a log file in the middle of the list then it was not possible to download recent logs, as we get the incorrect value for total number of logs. This happened for me with 107 logs, with log62 missing from the microSD. It would only show 45 available logs, so the most recent logs could not be downloaded. The second issue is that get_num_logs() was very slow if there were a lot of log files in a directory. This would cause EKF errors and ESC resets. Using a opendir/readdir loop is much faster (approx 10x faster in my testing with 107 logs on a MatekH743).
149 lines
4.5 KiB
C++
149 lines
4.5 KiB
C++
/*
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AP_Logger logging - file oriented variant
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This uses posix file IO to create log files called logNN.dat in the
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given directory
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*/
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#pragma once
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#include <AP_Filesystem/AP_Filesystem.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_Logger_Backend.h"
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#if HAL_LOGGING_FILESYSTEM_ENABLED
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#ifndef HAL_LOGGER_WRITE_CHUNK_SIZE
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#define HAL_LOGGER_WRITE_CHUNK_SIZE 4096
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#endif
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class AP_Logger_File : public AP_Logger_Backend
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{
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public:
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// constructor
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AP_Logger_File(AP_Logger &front,
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LoggerMessageWriter_DFLogStart *);
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static AP_Logger_Backend *probe(AP_Logger &front,
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LoggerMessageWriter_DFLogStart *ls) {
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return new AP_Logger_File(front, ls);
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}
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// initialisation
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void Init() override;
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bool CardInserted(void) const override;
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// erase handling
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void EraseAll() override;
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/* Write a block of data at current offset */
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bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
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uint32_t bufferspace_available() override;
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// high level interface
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uint16_t find_last_log() override;
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void get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page) override;
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) override;
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) override;
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uint16_t get_num_logs() override;
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void start_new_log(void) override;
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uint16_t find_oldest_log() override;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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void flush(void) override;
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#endif
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void periodic_1Hz() override;
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void periodic_fullrate() override;
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// this method is used when reporting system status over mavlink
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bool logging_failed() const override;
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bool logging_started(void) const override { return _write_fd != -1; }
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void io_timer(void) override;
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protected:
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bool WritesOK() const override;
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bool StartNewLogOK() const override;
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void PrepForArming_start_logging() override;
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private:
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int _write_fd = -1;
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char *_write_filename;
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uint32_t _last_write_ms;
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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bool _need_rtc_update;
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#endif
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int _read_fd = -1;
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uint16_t _read_fd_log_num;
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uint32_t _read_offset;
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uint32_t _write_offset;
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volatile uint32_t _open_error_ms;
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const char *_log_directory;
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bool _last_write_failed;
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uint32_t _io_timer_heartbeat;
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bool io_thread_alive() const;
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uint8_t io_thread_warning_decimation_counter;
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// do we have a recent open error?
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bool recent_open_error(void) const;
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// possibly time-consuming preparations handling
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void Prep_MinSpace();
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int64_t disk_space_avail();
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int64_t disk_space();
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void ensure_log_directory_exists();
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bool file_exists(const char *filename) const;
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bool log_exists(const uint16_t lognum) const;
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bool dirent_to_log_num(const dirent *de, uint16_t &log_num) const;
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// write buffer
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ByteBuffer _writebuf{0};
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const uint16_t _writebuf_chunk = HAL_LOGGER_WRITE_CHUNK_SIZE;
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uint32_t _last_write_time;
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/* construct a file name given a log number. Caller must free. */
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char *_log_file_name(const uint16_t log_num) const;
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char *_log_file_name_long(const uint16_t log_num) const;
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char *_log_file_name_short(const uint16_t log_num) const;
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char *_lastlog_file_name() const;
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uint32_t _get_log_size(const uint16_t log_num);
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uint32_t _get_log_time(const uint16_t log_num);
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void stop_logging(void) override;
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uint32_t last_messagewrite_message_sent;
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// free-space checks; filling up SD cards under NuttX leads to
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// corrupt filesystems which cause loss of data, failure to gather
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// data and failures-to-boot.
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uint32_t _free_space_last_check_time; // milliseconds
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const uint32_t _free_space_check_interval = 1000UL; // milliseconds
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const uint32_t _free_space_min_avail = 8388608; // bytes
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// semaphore mediates access to the ringbuffer
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HAL_Semaphore semaphore;
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// write_fd_semaphore mediates access to write_fd so the frontend
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// can open/close files without causing the backend to write to a
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// bad fd
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HAL_Semaphore write_fd_semaphore;
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// async erase state
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struct {
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bool was_logging;
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uint16_t log_num;
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} erase;
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void erase_next(void);
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const char *last_io_operation = "";
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bool start_new_log_pending;
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};
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#endif // HAL_LOGGING_FILESYSTEM_ENABLED
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