mirror of https://github.com/ArduPilot/ardupilot
623 lines
20 KiB
C++
623 lines
20 KiB
C++
#include <stdlib.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include "AP_Logger.h"
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#include "AP_Logger_File.h"
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#include "AP_Logger_MAVLink.h"
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#include "LoggerMessageWriter.h"
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extern const AP_HAL::HAL& hal;
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/*
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write a structure format to the log - should be in frontend
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*/
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void AP_Logger_Backend::Fill_Format(const struct LogStructure *s, struct log_Format &pkt)
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{
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memset(&pkt, 0, sizeof(pkt));
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pkt.head1 = HEAD_BYTE1;
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pkt.head2 = HEAD_BYTE2;
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pkt.msgid = LOG_FORMAT_MSG;
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pkt.type = s->msg_type;
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pkt.length = s->msg_len;
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strncpy_noterm(pkt.name, s->name, sizeof(pkt.name));
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strncpy_noterm(pkt.format, s->format, sizeof(pkt.format));
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strncpy_noterm(pkt.labels, s->labels, sizeof(pkt.labels));
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}
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/*
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Pack a LogStructure packet into a structure suitable to go to the logfile:
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*/
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void AP_Logger_Backend::Fill_Format_Units(const struct LogStructure *s, struct log_Format_Units &pkt)
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{
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memset(&pkt, 0, sizeof(pkt));
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pkt.head1 = HEAD_BYTE1;
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pkt.head2 = HEAD_BYTE2;
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pkt.msgid = LOG_FORMAT_UNITS_MSG;
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pkt.time_us = AP_HAL::micros64();
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pkt.format_type = s->msg_type;
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strncpy_noterm(pkt.units, s->units, sizeof(pkt.units));
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strncpy_noterm(pkt.multipliers, s->multipliers, sizeof(pkt.multipliers));
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}
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/*
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write a structure format to the log
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*/
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bool AP_Logger_Backend::Write_Format(const struct LogStructure *s)
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{
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struct log_Format pkt;
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Fill_Format(s, pkt);
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write a unit definition
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*/
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bool AP_Logger_Backend::Write_Unit(const struct UnitStructure *s)
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{
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struct log_Unit pkt{
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LOG_PACKET_HEADER_INIT(LOG_UNIT_MSG),
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time_us : AP_HAL::micros64(),
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type : s->ID,
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unit : { }
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};
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strncpy_noterm(pkt.unit, s->unit, sizeof(pkt.unit));
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write a unit-multiplier definition
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*/
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bool AP_Logger_Backend::Write_Multiplier(const struct MultiplierStructure *s)
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{
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const struct log_Format_Multiplier pkt{
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LOG_PACKET_HEADER_INIT(LOG_MULT_MSG),
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time_us : AP_HAL::micros64(),
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type : s->ID,
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multiplier : s->multiplier,
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};
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write the units for a format to the log
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*/
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bool AP_Logger_Backend::Write_Format_Units(const struct LogStructure *s)
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{
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struct log_Format_Units pkt;
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Fill_Format_Units(s, pkt);
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write a parameter to the log
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*/
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bool AP_Logger_Backend::Write_Parameter(const char *name, float value)
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{
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struct log_Parameter pkt{
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LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
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time_us : AP_HAL::micros64(),
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name : {},
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value : value
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};
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strncpy_noterm(pkt.name, name, sizeof(pkt.name));
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write a parameter to the log
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*/
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bool AP_Logger_Backend::Write_Parameter(const AP_Param *ap,
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const AP_Param::ParamToken &token,
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enum ap_var_type type)
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{
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char name[16];
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ap->copy_name_token(token, &name[0], sizeof(name), true);
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return Write_Parameter(name, ap->cast_to_float(type));
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}
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// Write an RCIN packet
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void AP_Logger::Write_RCIN(void)
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{
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uint16_t values[16] = {};
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rc().get_radio_in(values, ARRAY_SIZE(values));
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const struct log_RCIN pkt{
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LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
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time_us : AP_HAL::micros64(),
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chan1 : values[0],
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chan2 : values[1],
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chan3 : values[2],
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chan4 : values[3],
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chan5 : values[4],
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chan6 : values[5],
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chan7 : values[6],
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chan8 : values[7],
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chan9 : values[8],
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chan10 : values[9],
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chan11 : values[10],
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chan12 : values[11],
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chan13 : values[12],
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chan14 : values[13]
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};
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WriteBlock(&pkt, sizeof(pkt));
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const uint16_t override_mask = rc().get_override_mask();
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// don't waste logging bandwidth if we haven't seen non-zero
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// channels 15/16:
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if (!should_log_rcin2) {
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if (values[14] || values[15]) {
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should_log_rcin2 = true;
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} else if (override_mask != 0) {
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should_log_rcin2 = true;
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}
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}
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if (!should_log_rcin2) {
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return;
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}
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const struct log_RCIN2 pkt2{
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LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
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time_us : AP_HAL::micros64(),
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chan15 : values[14],
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chan16 : values[15],
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override_mask : override_mask,
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};
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WriteBlock(&pkt2, sizeof(pkt2));
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}
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// Write an SERVO packet
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void AP_Logger::Write_RCOUT(void)
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{
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const struct log_RCOUT pkt{
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LOG_PACKET_HEADER_INIT(LOG_RCOUT_MSG),
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time_us : AP_HAL::micros64(),
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chan1 : hal.rcout->read(0),
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chan2 : hal.rcout->read(1),
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chan3 : hal.rcout->read(2),
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chan4 : hal.rcout->read(3),
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chan5 : hal.rcout->read(4),
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chan6 : hal.rcout->read(5),
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chan7 : hal.rcout->read(6),
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chan8 : hal.rcout->read(7),
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chan9 : hal.rcout->read(8),
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chan10 : hal.rcout->read(9),
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chan11 : hal.rcout->read(10),
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chan12 : hal.rcout->read(11),
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chan13 : hal.rcout->read(12),
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chan14 : hal.rcout->read(13)
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write an RSSI packet
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void AP_Logger::Write_RSSI()
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{
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AP_RSSI *rssi = AP::rssi();
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if (rssi == nullptr) {
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return;
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}
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const struct log_RSSI pkt{
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LOG_PACKET_HEADER_INIT(LOG_RSSI_MSG),
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time_us : AP_HAL::micros64(),
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RXRSSI : rssi->read_receiver_rssi(),
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RXLQ : rssi->read_receiver_link_quality()
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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void AP_Logger::Write_Command(const mavlink_command_int_t &packet,
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uint8_t source_system,
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uint8_t source_component,
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const MAV_RESULT result,
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bool was_command_long)
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{
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const struct log_MAVLink_Command pkt{
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LOG_PACKET_HEADER_INIT(LOG_MAVLINK_COMMAND_MSG),
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time_us : AP_HAL::micros64(),
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target_system : packet.target_system,
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target_component: packet.target_component,
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source_system : source_system,
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source_component: source_component,
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frame : packet.frame,
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command : packet.command,
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param1 : packet.param1,
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param2 : packet.param2,
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param3 : packet.param3,
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param4 : packet.param4,
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x : packet.x,
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y : packet.y,
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z : packet.z,
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result : (uint8_t)result,
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was_command_long:was_command_long,
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};
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return WriteBlock(&pkt, sizeof(pkt));
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}
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bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd)
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{
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mavlink_mission_item_int_t mav_cmd = {};
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AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
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const struct log_Cmd pkt{
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LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
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time_us : AP_HAL::micros64(),
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command_total : mission.num_commands(),
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sequence : mav_cmd.seq,
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command : mav_cmd.command,
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param1 : mav_cmd.param1,
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param2 : mav_cmd.param2,
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param3 : mav_cmd.param3,
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param4 : mav_cmd.param4,
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latitude : mav_cmd.x,
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longitude : mav_cmd.y,
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altitude : mav_cmd.z,
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frame : mav_cmd.frame
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};
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return WriteBlock(&pkt, sizeof(pkt));
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}
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#if HAL_MISSION_ENABLED
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bool AP_Logger_Backend::Write_EntireMission()
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{
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// kick off asynchronous write:
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return _startup_messagewriter->writeentiremission();
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}
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#endif
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// Write a text message to the log
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bool AP_Logger_Backend::Write_Message(const char *message)
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{
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struct log_Message pkt{
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LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
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time_us : AP_HAL::micros64(),
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msg : {}
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};
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strncpy_noterm(pkt.msg, message, sizeof(pkt.msg));
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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void AP_Logger::Write_Power(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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uint8_t safety_and_armed = uint8_t(hal.util->safety_switch_state());
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if (hal.util->get_soft_armed()) {
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// encode armed state in bit 3
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safety_and_armed |= 1U<<2;
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}
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float MCU_temp = 0;
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float MCU_voltage = 0;
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float MCU_vmin = 0;
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float MCU_vmax = 0;
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#if HAL_WITH_MCU_MONITORING
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MCU_temp = hal.analogin->mcu_temperature();
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MCU_voltage = hal.analogin->mcu_voltage();
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MCU_vmin = hal.analogin->mcu_voltage_min();
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MCU_vmax = hal.analogin->mcu_voltage_max();
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#endif
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const struct log_POWR pkt{
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LOG_PACKET_HEADER_INIT(LOG_POWR_MSG),
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time_us : AP_HAL::micros64(),
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Vcc : hal.analogin->board_voltage(),
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Vservo : hal.analogin->servorail_voltage(),
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flags : hal.analogin->power_status_flags(),
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accumulated_flags : hal.analogin->accumulated_power_status_flags(),
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safety_and_arm : safety_and_armed,
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MCU_temp : MCU_temp,
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MCU_voltage : MCU_voltage,
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MCU_voltage_min : MCU_vmin,
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MCU_voltage_max : MCU_vmax,
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};
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WriteBlock(&pkt, sizeof(pkt));
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#endif
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}
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void AP_Logger::Write_Radio(const mavlink_radio_t &packet)
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{
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const struct log_Radio pkt{
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LOG_PACKET_HEADER_INIT(LOG_RADIO_MSG),
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time_us : AP_HAL::micros64(),
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rssi : packet.rssi,
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remrssi : packet.remrssi,
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txbuf : packet.txbuf,
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noise : packet.noise,
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remnoise : packet.remnoise,
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rxerrors : packet.rxerrors,
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fixed : packet.fixed
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag_instance)
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{
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const Compass &compass = AP::compass();
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const Vector3f &mag_field = compass.get_field(mag_instance);
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const Vector3f &mag_offsets = compass.get_offsets(mag_instance);
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const Vector3f &mag_motor_offsets = compass.get_motor_offsets(mag_instance);
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const struct log_MAG pkt{
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LOG_PACKET_HEADER_INIT(LOG_MAG_MSG),
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time_us : time_us,
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instance : mag_instance,
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mag_x : (int16_t)mag_field.x,
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mag_y : (int16_t)mag_field.y,
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mag_z : (int16_t)mag_field.z,
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offset_x : (int16_t)mag_offsets.x,
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offset_y : (int16_t)mag_offsets.y,
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offset_z : (int16_t)mag_offsets.z,
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motor_offset_x : (int16_t)mag_motor_offsets.x,
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motor_offset_y : (int16_t)mag_motor_offsets.y,
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motor_offset_z : (int16_t)mag_motor_offsets.z,
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health : (uint8_t)compass.healthy(mag_instance),
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SUS : compass.last_update_usec(mag_instance)
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a Compass packet
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void AP_Logger::Write_Compass()
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{
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const uint64_t time_us = AP_HAL::micros64();
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const Compass &compass = AP::compass();
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for (uint8_t i=0; i<compass.get_count(); i++) {
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Write_Compass_instance(time_us, i);
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}
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}
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// Write a mode packet.
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bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
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{
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static_assert(sizeof(ModeReason) <= sizeof(uint8_t), "Logging expects the ModeReason to fit in 8 bits");
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const struct log_Mode pkt{
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LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
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time_us : AP_HAL::micros64(),
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mode : mode,
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mode_num : mode,
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mode_reason : static_cast<uint8_t>(reason)
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};
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write servo status from CAN servo
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*/
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void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct)
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{
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const struct log_CSRV pkt {
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LOG_PACKET_HEADER_INIT(LOG_CSRV_MSG),
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time_us : time_us,
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id : id,
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position : position,
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force : force,
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speed : speed,
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power_pct : power_pct
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a Yaw PID packet
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void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
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{
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const struct log_PID pkt{
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LOG_PACKET_HEADER_INIT(msg_type),
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time_us : AP_HAL::micros64(),
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target : info.target,
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actual : info.actual,
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error : info.error,
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P : info.P,
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I : info.I,
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D : info.D,
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FF : info.FF,
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Dmod : info.Dmod,
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slew_rate : info.slew_rate,
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limit : info.limit
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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void AP_Logger::Write_RPM(const AP_RPM &rpm_sensor)
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{
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float rpm1 = -1, rpm2 = -1;
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rpm_sensor.get_rpm(0, rpm1);
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rpm_sensor.get_rpm(1, rpm2);
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const struct log_RPM pkt{
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LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
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time_us : AP_HAL::micros64(),
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rpm1 : rpm1,
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rpm2 : rpm2
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write beacon sensor (position) data
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void AP_Logger::Write_Beacon(AP_Beacon &beacon)
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{
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if (!beacon.enabled()) {
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return;
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}
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// position
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Vector3f pos;
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float accuracy = 0.0f;
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beacon.get_vehicle_position_ned(pos, accuracy);
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const struct log_Beacon pkt_beacon{
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LOG_PACKET_HEADER_INIT(LOG_BEACON_MSG),
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time_us : AP_HAL::micros64(),
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health : (uint8_t)beacon.healthy(),
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count : (uint8_t)beacon.count(),
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dist0 : beacon.beacon_distance(0),
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dist1 : beacon.beacon_distance(1),
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dist2 : beacon.beacon_distance(2),
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dist3 : beacon.beacon_distance(3),
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posx : pos.x,
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posy : pos.y,
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posz : pos.z
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};
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WriteBlock(&pkt_beacon, sizeof(pkt_beacon));
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}
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#if HAL_PROXIMITY_ENABLED
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// Write proximity sensor distances
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void AP_Logger::Write_Proximity(AP_Proximity &proximity)
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{
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// exit immediately if not enabled
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if (proximity.get_status() == AP_Proximity::Status::NotConnected) {
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return;
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}
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AP_Proximity::Proximity_Distance_Array dist_array{}; // raw distances stored here
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AP_Proximity::Proximity_Distance_Array filt_dist_array{}; //filtered distances stored here
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for (uint8_t i = 0; i < proximity.get_num_layers(); i++) {
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const bool active = proximity.get_active_layer_distances(i, dist_array, filt_dist_array);
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if (!active) {
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// nothing on this layer
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continue;
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}
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float dist_up;
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if (!proximity.get_upward_distance(dist_up)) {
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dist_up = 0.0f;
|
|
}
|
|
|
|
float closest_ang = 0.0f;
|
|
float closest_dist = 0.0f;
|
|
proximity.get_closest_object(closest_ang, closest_dist);
|
|
|
|
const struct log_Proximity pkt_proximity{
|
|
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
instance : i,
|
|
health : (uint8_t)proximity.get_status(),
|
|
dist0 : filt_dist_array.distance[0],
|
|
dist45 : filt_dist_array.distance[1],
|
|
dist90 : filt_dist_array.distance[2],
|
|
dist135 : filt_dist_array.distance[3],
|
|
dist180 : filt_dist_array.distance[4],
|
|
dist225 : filt_dist_array.distance[5],
|
|
dist270 : filt_dist_array.distance[6],
|
|
dist315 : filt_dist_array.distance[7],
|
|
distup : dist_up,
|
|
closest_angle : closest_ang,
|
|
closest_dist : closest_dist
|
|
};
|
|
WriteBlock(&pkt_proximity, sizeof(pkt_proximity));
|
|
|
|
if (proximity.get_raw_log_enable()) {
|
|
const struct log_Proximity_raw pkt_proximity_raw{
|
|
LOG_PACKET_HEADER_INIT(LOG_RAW_PROXIMITY_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
instance : i,
|
|
raw_dist0 : dist_array.distance[0],
|
|
raw_dist45 : dist_array.distance[1],
|
|
raw_dist90 : dist_array.distance[2],
|
|
raw_dist135 : dist_array.distance[3],
|
|
raw_dist180 : dist_array.distance[4],
|
|
raw_dist225 : dist_array.distance[5],
|
|
raw_dist270 : dist_array.distance[6],
|
|
raw_dist315 : dist_array.distance[7],
|
|
};
|
|
WriteBlock(&pkt_proximity_raw, sizeof(pkt_proximity_raw));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& breadcrumb)
|
|
{
|
|
const struct log_SRTL pkt_srtl{
|
|
LOG_PACKET_HEADER_INIT(LOG_SRTL_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
active : active,
|
|
num_points : num_points,
|
|
max_points : max_points,
|
|
action : action,
|
|
N : breadcrumb.x,
|
|
E : breadcrumb.y,
|
|
D : breadcrumb.z
|
|
};
|
|
WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
|
|
}
|
|
|
|
void AP_Logger::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)
|
|
{
|
|
struct log_Winch pkt{
|
|
LOG_PACKET_HEADER_INIT(LOG_WINCH_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
healthy : healthy,
|
|
thread_end : thread_end,
|
|
moving : moving,
|
|
clutch : clutch,
|
|
mode : mode,
|
|
desired_length : desired_length,
|
|
length : length,
|
|
desired_rate : desired_rate,
|
|
tension : tension,
|
|
voltage : voltage,
|
|
temp : temp
|
|
};
|
|
WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
void AP_Logger::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
|
|
{
|
|
const struct log_PSCN pkt{
|
|
LOG_PACKET_HEADER_INIT(LOG_PSCN_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
pos_target : pos_target * 0.01f,
|
|
pos : pos * 0.01f,
|
|
vel_desired : vel_desired * 0.01f,
|
|
vel_target : vel_target * 0.01f,
|
|
vel : vel * 0.01f,
|
|
accel_desired : accel_desired * 0.01f,
|
|
accel_target : accel_target * 0.01f,
|
|
accel : accel * 0.01f
|
|
};
|
|
WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
void AP_Logger::Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
|
|
{
|
|
const struct log_PSCE pkt{
|
|
LOG_PACKET_HEADER_INIT(LOG_PSCE_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
pos_target : pos_target * 0.01f,
|
|
pos : pos * 0.01f,
|
|
vel_desired : vel_desired * 0.01f,
|
|
vel_target : vel_target * 0.01f,
|
|
vel : vel * 0.01f,
|
|
accel_desired : accel_desired * 0.01f,
|
|
accel_target : accel_target * 0.01f,
|
|
accel : accel * 0.01f
|
|
};
|
|
WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
void AP_Logger::Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
|
|
{
|
|
const struct log_PSCD pkt{
|
|
LOG_PACKET_HEADER_INIT(LOG_PSCD_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
pos_target : pos_target * 0.01f,
|
|
pos : pos * 0.01f,
|
|
vel_desired : vel_desired * 0.01f,
|
|
vel_target : vel_target * 0.01f,
|
|
vel : vel * 0.01f,
|
|
accel_desired : accel_desired * 0.01f,
|
|
accel_target : accel_target * 0.01f,
|
|
accel : accel * 0.01f
|
|
};
|
|
WriteBlock(&pkt, sizeof(pkt));
|
|
}
|