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ardupilot/libraries/AP_Logger/AP_Logger_Backend.cpp

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#include "AP_Logger_config.h"
#if HAL_LOGGING_ENABLED
#include "AP_Logger_Backend.h"
#include "LoggerMessageWriter.h"
#include "AP_Common/AP_FWVersion.h"
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <Filter/Filter.h>
#include "AP_Logger.h"
#if HAL_LOGGER_FENCE_ENABLED
#include <AC_Fence/AC_Fence.h>
#endif
extern const AP_HAL::HAL& hal;
AP_Logger_Backend::AP_Logger_Backend(AP_Logger &front,
class LoggerMessageWriter_DFLogStart *writer) :
_front(front),
_startup_messagewriter(writer)
{
writer->set_logger_backend(this);
}
uint8_t AP_Logger_Backend::num_types() const
{
return _front._num_types;
}
const struct LogStructure *AP_Logger_Backend::structure(uint8_t num) const
{
return _front.structure(num);
}
uint8_t AP_Logger_Backend::num_units() const
{
return _front._num_units;
}
const struct UnitStructure *AP_Logger_Backend::unit(uint8_t num) const
{
return _front.unit(num);
}
uint8_t AP_Logger_Backend::num_multipliers() const
{
return _front._num_multipliers;
}
const struct MultiplierStructure *AP_Logger_Backend::multiplier(uint8_t num) const
{
return _front.multiplier(num);
}
AP_Logger_Backend::vehicle_startup_message_Writer AP_Logger_Backend::vehicle_message_writer() const {
return _front._vehicle_messages;
}
void AP_Logger_Backend::periodic_10Hz(const uint32_t now)
{
}
void AP_Logger_Backend::periodic_1Hz()
{
if (_rotate_pending && !logging_enabled()) {
_rotate_pending = false;
// handle log rotation once we stop logging
stop_logging_async();
}
df_stats_log();
}
void AP_Logger_Backend::periodic_fullrate()
{
push_log_blocks();
}
void AP_Logger_Backend::periodic_tasks()
{
uint32_t now = AP_HAL::millis();
if (now - _last_periodic_1Hz > 1000) {
periodic_1Hz();
_last_periodic_1Hz = now;
}
if (now - _last_periodic_10Hz > 100) {
periodic_10Hz(now);
_last_periodic_10Hz = now;
}
periodic_fullrate();
}
void AP_Logger_Backend::start_new_log_reset_variables()
{
_dropped = 0;
_startup_messagewriter->reset();
_front.backend_starting_new_log(this);
_formats_written.clearall();
}
// 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 AP_Logger_Backend::allow_start_ekf() const
{
if (!_startup_messagewriter->fmt_done()) {
return false;
}
// we need to push all startup messages out, or the code in
// WriteBlockCheckStartupMessages bites us.
if (!_startup_messagewriter->finished()) {
return false;
}
return true;
}
// this method can be overridden to do extra things with your buffer.
// for example, in AP_Logger_MAVLink we may push messages into the UART.
void AP_Logger_Backend::push_log_blocks() {
WriteMoreStartupMessages();
}
// source more messages from the startup message writer:
void AP_Logger_Backend::WriteMoreStartupMessages()
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
return;
#endif
if (_startup_messagewriter->finished()) {
return;
}
_writing_startup_messages = true;
_startup_messagewriter->process();
_writing_startup_messages = false;
}
/*
* support for Write():
*/
// output a FMT message if not already done so
void AP_Logger_Backend::Safe_Write_Emit_FMT(uint8_t msg_type)
{
if (have_emitted_format_for_type(LogMessages(msg_type))) {
return;
}
Write_Emit_FMT(msg_type);
}
bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
if (msg_type < REPLAY_LOG_NEW_MSG_MIN || msg_type > REPLAY_LOG_NEW_MSG_MAX) {
// don't re-emit FMU msgs unless they are in the replay range
return true;
}
#endif
// get log structure from front end:
struct AP_Logger::log_write_fmt_strings ls = {};
struct LogStructure logstruct = {
// these will be overwritten, but need to keep the compiler happy:
0,
0,
ls.name,
ls.format,
ls.labels,
ls.units,
ls.multipliers
};
if (!_front.fill_logstructure(logstruct, msg_type)) {
// this is a bug; we've been asked to write out the FMT
// message for a msg_type, but the frontend can't supply the
// required information
INTERNAL_ERROR(AP_InternalError::error_t::logger_missing_logstructure);
return false;
}
if (!Write_Format(&logstruct)) {
return false;
}
if (!Write_Format_Units(&logstruct)) {
return false;
}
return true;
}
bool AP_Logger_Backend::Write(const uint8_t msg_type, va_list arg_list, bool is_critical, bool is_streaming)
{
// stack-allocate a buffer so we can WriteBlock(); this could be
// 255 bytes! If we were willing to lose the WriteBlock
// abstraction we could do WriteBytes() here instead?
const char *fmt = nullptr;
uint8_t msg_len;
AP_Logger::log_write_fmt *f;
for (f = _front.log_write_fmts; f; f=f->next) {
if (f->msg_type == msg_type) {
fmt = f->fmt;
msg_len = f->msg_len;
break;
}
}
if (fmt == nullptr) {
INTERNAL_ERROR(AP_InternalError::error_t::logger_logwrite_missingfmt);
return false;
}
if (bufferspace_available() < msg_len) {
return false;
}
uint8_t buffer[msg_len];
uint8_t offset = 0;
buffer[offset++] = HEAD_BYTE1;
buffer[offset++] = HEAD_BYTE2;
buffer[offset++] = msg_type;
for (uint8_t i=0; i<strlen(fmt); i++) {
uint8_t charlen = 0;
switch(fmt[i]) {
case 'b': {
int8_t tmp = va_arg(arg_list, int);
memcpy(&buffer[offset], &tmp, sizeof(int8_t));
offset += sizeof(int8_t);
break;
}
case 'h':
case 'c': {
int16_t tmp = va_arg(arg_list, int);
memcpy(&buffer[offset], &tmp, sizeof(int16_t));
offset += sizeof(int16_t);
break;
}
case 'd': {
double tmp = va_arg(arg_list, double);
memcpy(&buffer[offset], &tmp, sizeof(double));
offset += sizeof(double);
break;
}
case 'i':
case 'L':
case 'e': {
int32_t tmp = va_arg(arg_list, int);
memcpy(&buffer[offset], &tmp, sizeof(int32_t));
offset += sizeof(int32_t);
break;
}
case 'f': {
float tmp = va_arg(arg_list, double);
memcpy(&buffer[offset], &tmp, sizeof(float));
offset += sizeof(float);
break;
}
case 'n':
charlen = 4;
break;
case 'M':
case 'B': {
uint8_t tmp = va_arg(arg_list, int);
memcpy(&buffer[offset], &tmp, sizeof(uint8_t));
offset += sizeof(uint8_t);
break;
}
case 'H':
case 'C': {
uint16_t tmp = va_arg(arg_list, int);
memcpy(&buffer[offset], &tmp, sizeof(uint16_t));
offset += sizeof(uint16_t);
break;
}
case 'I':
case 'E': {
uint32_t tmp = va_arg(arg_list, uint32_t);
memcpy(&buffer[offset], &tmp, sizeof(uint32_t));
offset += sizeof(uint32_t);
break;
}
case 'N':
charlen = 16;
break;
case 'Z':
charlen = 64;
break;
case 'q': {
int64_t tmp = va_arg(arg_list, int64_t);
memcpy(&buffer[offset], &tmp, sizeof(int64_t));
offset += sizeof(int64_t);
break;
}
case 'Q': {
uint64_t tmp = va_arg(arg_list, uint64_t);
memcpy(&buffer[offset], &tmp, sizeof(uint64_t));
offset += sizeof(uint64_t);
break;
}
case 'a': {
int16_t *tmp = va_arg(arg_list, int16_t*);
const uint8_t bytes = 32*2;
memcpy(&buffer[offset], tmp, bytes);
offset += bytes;
break;
}
}
if (charlen != 0) {
char *tmp = va_arg(arg_list, char*);
uint8_t len = strnlen(tmp, charlen);
memcpy(&buffer[offset], tmp, len);
memset(&buffer[offset+len], 0, charlen-len);
offset += charlen;
}
}
return WritePrioritisedBlock(buffer, msg_len, is_critical, is_streaming);
}
bool AP_Logger_Backend::StartNewLogOK() const
{
if (logging_started()) {
return false;
}
if (_front._log_bitmask == 0) {
return false;
}
if (_front.in_log_download()) {
return false;
}
if (!hal.scheduler->in_main_thread()) {
return false;
}
return true;
}
// validate that pBuffer looks like a message, extract message type.
// Returns false if this doesn't look like a valid message.
bool AP_Logger_Backend::message_type_from_block(const void *pBuffer, uint16_t size, LogMessages &type) const
{
if (size < 3) {
return false;
}
if (((uint8_t*)pBuffer)[0] != HEAD_BYTE1 ||
((uint8_t*)pBuffer)[1] != HEAD_BYTE2) {
// Not passed a message
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return false;
}
type = LogMessages(((uint8_t*)pBuffer)[2]);
return true;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void AP_Logger_Backend::validate_WritePrioritisedBlock(const void *pBuffer,
uint16_t size)
{
// just check the first few packets to avoid too much overhead
// (finding the structures is expensive)
static uint16_t count = 0;
if (count > 65534) {
return;
}
count++;
// we assume here that we ever WritePrioritisedBlock for a single
// message. If this assumption becomes false we can't do these
// checks.
if (size < 3) {
AP_HAL::panic("Short prioritised block");
}
LogMessages type;
if (!message_type_from_block(pBuffer, size, type)) {
AP_HAL::panic("Not passed a message");
}
uint8_t type_len;
const char *name_src;
const struct LogStructure *s = _front.structure_for_msg_type(type);
if (s == nullptr) {
const struct AP_Logger::log_write_fmt *t = _front.log_write_fmt_for_msg_type(type);
if (t == nullptr) {
AP_HAL::panic("No structure for msg_type=%u", type);
}
type_len = t->msg_len;
name_src = t->name;
} else {
type_len = s->msg_len;
name_src = s->name;
}
if (type_len != size) {
char name[5] = {}; // get a null-terminated string
if (name_src != nullptr) {
memcpy(name, name_src, 4);
} else {
strncpy(name, "?NM?", ARRAY_SIZE(name));
}
AP_HAL::panic("Size mismatch for %u (%s) (expected=%u got=%u)\n",
type, name, type_len, size);
}
}
#endif
bool AP_Logger_Backend::ensure_format_emitted(const void *pBuffer, uint16_t size)
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// we trust that Replay will correctly emit formats as required
return true;
#endif
// extract the ID:
LogMessages type;
if (!message_type_from_block(pBuffer, size, type)) {
return false;
}
if (have_emitted_format_for_type(type)) {
return true;
}
// make sure the FMT message has gone out!
if (type == LOG_FORMAT_MSG) {
// kind of? Our caller is just about to emit this....
return true;
}
if (!have_emitted_format_for_type(LOG_FORMAT_MSG) &&
!Write_Emit_FMT(LOG_FORMAT_MSG)) {
return false;
}
return Write_Emit_FMT(type);
}
bool AP_Logger_Backend::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical, bool writev_streaming)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !APM_BUILD_TYPE(APM_BUILD_Replay)
validate_WritePrioritisedBlock(pBuffer, size);
#endif
if (!ShouldLog(is_critical)) {
return false;
}
if (StartNewLogOK()) {
start_new_log();
}
if (!WritesOK()) {
return false;
}
if (!is_critical && rate_limiter != nullptr) {
const uint8_t *msgbuf = (const uint8_t *)pBuffer;
if (!rate_limiter->should_log(msgbuf[2], writev_streaming)) {
return false;
}
}
if (!ensure_format_emitted(pBuffer, size)) {
return false;
}
return _WritePrioritisedBlock(pBuffer, size, is_critical);
}
bool AP_Logger_Backend::ShouldLog(bool is_critical)
{
if (!_front.WritesEnabled()) {
return false;
}
if (!_initialised) {
return false;
}
if (!_startup_messagewriter->finished() &&
!hal.scheduler->in_main_thread()) {
// only the main thread may write startup messages out
return false;
}
if (_front.in_log_download() &&
_front._last_mavlink_log_transfer_message_handled_ms != 0) {
if (AP_HAL::millis() - _front._last_mavlink_log_transfer_message_handled_ms < 10000) {
if (!_front.vehicle_is_armed()) {
// user is transferring files via mavlink
return false;
}
} else {
_front._last_mavlink_log_transfer_message_handled_ms = 0;
}
}
if (is_critical && have_logged_armed && !_front._params.file_disarm_rot) {
// if we have previously logged while armed then we log all
// critical messages from then on. That fixes a problem where
// logs show the wrong flight mode if you disarm then arm again
return true;
}
if (!_front.vehicle_is_armed() && !_front.log_while_disarmed()) {
return false;
}
if (_front.vehicle_is_armed()) {
have_logged_armed = true;
}
return true;
}
void AP_Logger_Backend::PrepForArming()
{
if (_rotate_pending) {
_rotate_pending = false;
stop_logging();
}
if (logging_started()) {
return;
}
PrepForArming_start_logging();
}
bool AP_Logger_Backend::Write_MessageF(const char *fmt, ...)
{
char msg[65] {}; // sizeof(log_Message.msg) + null-termination
va_list ap;
va_start(ap, fmt);
hal.util->vsnprintf(msg, sizeof(msg), fmt, ap);
va_end(ap);
return Write_Message(msg);
}
#if HAL_RALLY_ENABLED
// Write rally points
bool AP_Logger_Backend::Write_RallyPoint(uint8_t total,
uint8_t sequence,
const RallyLocation &rally_point)
{
const struct log_Rally pkt_rally{
LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
time_us : AP_HAL::micros64(),
total : total,
sequence : sequence,
latitude : rally_point.lat,
longitude : rally_point.lng,
altitude : rally_point.alt,
flags : rally_point.flags
};
return WriteBlock(&pkt_rally, sizeof(pkt_rally));
}
// Write rally points
bool AP_Logger_Backend::Write_Rally()
{
// kick off asynchronous write:
return _startup_messagewriter->writeallrallypoints();
}
#endif
#if HAL_LOGGER_FENCE_ENABLED
// Write a fence point
bool AP_Logger_Backend::Write_FencePoint(uint8_t total, uint8_t sequence, const AC_PolyFenceItem &fence_point)
{
const struct log_Fence pkt_fence{
LOG_PACKET_HEADER_INIT(LOG_FENCE_MSG),
time_us : AP_HAL::micros64(),
total : total,
sequence : sequence,
type : uint8_t(fence_point.type),
latitude : fence_point.loc.x,
longitude : fence_point.loc.y,
vertex_count : fence_point.vertex_count,
radius : fence_point.radius
};
return WriteBlock(&pkt_fence, sizeof(pkt_fence));
}
// Write all fence points
bool AP_Logger_Backend::Write_Fence()
{
// kick off asynchronous write:
return _startup_messagewriter->writeallfence();
}
#endif // HAL_LOGGER_FENCE_ENABLED
bool AP_Logger_Backend::Write_VER()
{
const AP_FWVersion &fwver = AP::fwversion();
log_VER pkt{
LOG_PACKET_HEADER_INIT(LOG_VER_MSG),
time_us : AP_HAL::micros64(),
board_type : fwver.board_type,
board_subtype: fwver.board_subtype,
major: fwver.major,
minor: fwver.minor,
patch: fwver.patch,
fw_type: fwver.fw_type,
git_hash: fwver.fw_hash,
};
strncpy(pkt.fw_string, fwver.fw_string, ARRAY_SIZE(pkt.fw_string)-1);
#ifdef APJ_BOARD_ID
pkt._APJ_BOARD_ID = APJ_BOARD_ID;
#endif
pkt.build_type = fwver.vehicle_type;
pkt.filter_version = AP_FILTER_VERSION;
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
/*
convert a list entry number back into a log number (which can then
be converted into a filename). A "list entry number" is a sequence
where the oldest log has a number of 1, the second-from-oldest 2,
and so on. Thus the highest list entry number is equal to the
number of logs.
*/
uint16_t AP_Logger_Backend::log_num_from_list_entry(const uint16_t list_entry)
{
uint16_t oldest_log = find_oldest_log();
if (oldest_log == 0) {
return 0;
}
uint32_t log_num = oldest_log + list_entry - 1;
const auto max_logs_num = _front.get_max_num_logs();
if (log_num > (uint32_t)max_logs_num) {
log_num -= max_logs_num;
}
return (uint16_t)log_num;
}
// find_oldest_log - find oldest log
// returns 0 if no log was found
uint16_t AP_Logger_Backend::find_oldest_log()
{
if (_cached_oldest_log != 0) {
return _cached_oldest_log;
}
uint16_t last_log_num = find_last_log();
if (last_log_num == 0) {
return 0;
}
_cached_oldest_log = last_log_num - get_num_logs() + 1;
return _cached_oldest_log;
}
void AP_Logger_Backend::vehicle_was_disarmed()
{
if (_front._params.file_disarm_rot &&
!_front._params.log_replay) {
// rotate our log. Closing the current one and letting the
// logging restart naturally based on log_disarmed should do
// the trick:
_rotate_pending = true;
}
}
// this sensor is enabled if we should be logging at the moment
bool AP_Logger_Backend::logging_enabled() const
{
if (hal.util->get_soft_armed() ||
_front.log_while_disarmed()) {
return true;
}
return false;
}
void AP_Logger_Backend::Write_AP_Logger_Stats_File(const struct df_stats &_stats)
{
const struct log_DSF pkt {
LOG_PACKET_HEADER_INIT(LOG_DF_FILE_STATS),
time_us : AP_HAL::micros64(),
dropped : _dropped,
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 AP_Logger_Backend::df_stats_gather(const uint16_t bytes_written, uint32_t space_remaining)
{
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 AP_Logger_Backend::df_stats_clear() {
memset(&stats, '\0', sizeof(stats));
stats.buf_space_min = -1;
}
void AP_Logger_Backend::df_stats_log() {
Write_AP_Logger_Stats_File(stats);
df_stats_clear();
}
// class to handle rate limiting of log messages
AP_Logger_RateLimiter::AP_Logger_RateLimiter(const AP_Logger &_front, const AP_Float &_limit_hz, const AP_Float &_disarm_limit_hz)
: front(_front),
rate_limit_hz(_limit_hz),
disarm_rate_limit_hz(_disarm_limit_hz)
{
}
/*
return false if a streaming message should not be sent yet
*/
bool AP_Logger_RateLimiter::should_log_streaming(uint8_t msgid, float rate_hz)
{
if (front._log_pause) {
return false;
}
const uint16_t now = AP_HAL::millis16();
uint16_t delta_ms = now - last_send_ms[msgid];
if (is_positive(rate_hz) && delta_ms < 1000.0 / rate_hz) {
// too soon
return false;
}
last_send_ms[msgid] = now;
return true;
}
/*
return true if the message is not a streaming message or the gap
from the last message is more than the message rate
*/
bool AP_Logger_RateLimiter::should_log(uint8_t msgid, bool writev_streaming)
{
float rate_hz = rate_limit_hz;
if (!hal.util->get_soft_armed() &&
!AP::logger().in_log_persistance() &&
!is_zero(disarm_rate_limit_hz)) {
rate_hz = disarm_rate_limit_hz;
}
if (!is_positive(rate_hz) && !front._log_pause) {
// no rate limiting if not paused and rate is zero(user changed the parameter)
return true;
}
if (last_send_ms[msgid] == 0 && !writev_streaming) {
// might be non streaming. check the not_streaming bitmask
// cache
if (not_streaming.get(msgid)) {
return true;
}
const auto *mtype = front.structure_for_msg_type(msgid);
if (mtype == nullptr ||
mtype->streaming == false) {
not_streaming.set(msgid);
return true;
}
}
#if !defined(HAL_BUILD_AP_PERIPH)
// if we've already decided on sending this msgid in this tick then use the
// same decision again
const uint16_t sched_ticks = AP::scheduler().ticks();
if (sched_ticks == last_sched_count[msgid]) {
return last_return.get(msgid);
}
last_sched_count[msgid] = sched_ticks;
#endif
bool ret = should_log_streaming(msgid, rate_hz);
if (ret) {
last_return.set(msgid);
} else {
last_return.clear(msgid);
}
return ret;
}
#endif // HAL_LOGGING_ENABLED
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