mirror of https://github.com/ArduPilot/ardupilot
200 lines
6.4 KiB
C++
200 lines
6.4 KiB
C++
/*
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DataFlash 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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#if HAL_OS_POSIX_IO
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#include <AP_HAL/utility/RingBuffer.h>
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#include "DataFlash_Backend.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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/*
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the QURT port has a limited range of system calls available. It
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cannot provide all the facilities that DataFlash_File wants. It can
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provide enough to be useful though, which is what
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DATAFLASH_FILE_MINIMAL is for
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*/
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#define DATAFLASH_FILE_MINIMAL 1
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#else
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#define DATAFLASH_FILE_MINIMAL 0
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#endif
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class DataFlash_File : public DataFlash_Backend
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{
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public:
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// constructor
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DataFlash_File(DataFlash_Class &front,
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DFMessageWriter_DFLogStart *,
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const char *log_directory);
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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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// possibly time-consuming preparation handling:
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bool NeedPrep() override;
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void Prep() 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, uint16_t & start_page, uint16_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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uint16_t start_new_log(void) override;
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void LogReadProcess(const uint16_t log_num,
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uint16_t start_page, uint16_t end_page,
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print_mode_fn print_mode,
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AP_HAL::BetterStream *port) override;
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void DumpPageInfo(AP_HAL::BetterStream *port) override;
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void ShowDeviceInfo(AP_HAL::BetterStream *port) override;
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void ListAvailableLogs(AP_HAL::BetterStream *port) 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(const uint32_t now) override;
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void periodic_fullrate(const uint32_t now) override;
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// this method is used when reporting system status over mavlink
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bool logging_enabled() const override;
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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 vehicle_was_disarmed() override;
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virtual void PrepForArming() 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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private:
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int _write_fd;
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int _read_fd;
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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 bool _open_error;
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const char *_log_directory;
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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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uint16_t _cached_oldest_log;
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/*
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read a block
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*/
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bool ReadBlock(void *pkt, uint16_t size) override;
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uint16_t _log_num_from_list_entry(const uint16_t list_entry);
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// possibly time-consuming preparations handling
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void Prep_MinSpace();
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uint16_t find_oldest_log();
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int64_t disk_space_avail();
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int64_t disk_space();
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float avail_space_percent();
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// I always seem to have less than 10% free space on my laptop:
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const float min_avail_space_percent = 0.1f;
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#else
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const float min_avail_space_percent = 10.0f;
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#endif
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// write buffer
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ByteBuffer _writebuf;
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const uint16_t _writebuf_chunk;
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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) const;
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uint32_t _get_log_time(const uint16_t log_num) const;
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void stop_logging(void) override;
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void _io_timer(void);
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uint32_t critical_message_reserved_space() const {
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// possibly make this a proportional to buffer size?
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uint32_t ret = 1024;
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if (ret > _writebuf.get_size()) {
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// in this case you will only get critical messages
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ret = _writebuf.get_size();
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}
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return ret;
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};
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uint32_t non_messagewriter_message_reserved_space() const {
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// possibly make this a proportional to buffer size?
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uint32_t ret = 1024;
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if (ret >= _writebuf.get_size()) {
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// need to allow messages out from the messagewriters. In
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// this case while you have a messagewriter you won't get
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// any other messages. This should be a corner case!
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ret = 0;
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}
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return ret;
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};
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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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AP_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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AP_HAL::Semaphore *write_fd_semaphore;
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// performance counters
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AP_HAL::Util::perf_counter_t _perf_write;
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AP_HAL::Util::perf_counter_t _perf_fsync;
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AP_HAL::Util::perf_counter_t _perf_errors;
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AP_HAL::Util::perf_counter_t _perf_overruns;
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const char *last_io_operation = "";
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struct df_stats {
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uint16_t blocks;
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uint32_t bytes;
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uint32_t buf_space_min;
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uint32_t buf_space_max;
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uint32_t buf_space_sigma;
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};
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struct df_stats stats;
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void Log_Write_DataFlash_Stats_File(const struct df_stats &_stats);
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void df_stats_gather(uint16_t bytes_written);
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void df_stats_log();
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void df_stats_clear();
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};
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#endif // HAL_OS_POSIX_IO
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