mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.2 KiB
C++
141 lines
4.2 KiB
C++
/*
|
|
AP_Logger logging - file oriented variant
|
|
|
|
This uses posix file IO to create log files called logNN.dat in the
|
|
given directory
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_Filesystem/AP_Filesystem.h>
|
|
|
|
#if HAVE_FILESYSTEM_SUPPORT
|
|
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
|
#include "AP_Logger_Backend.h"
|
|
|
|
class AP_Logger_File : public AP_Logger_Backend
|
|
{
|
|
public:
|
|
// constructor
|
|
AP_Logger_File(AP_Logger &front,
|
|
LoggerMessageWriter_DFLogStart *,
|
|
const char *log_directory);
|
|
|
|
// initialisation
|
|
void Init() override;
|
|
bool CardInserted(void) const override;
|
|
|
|
// erase handling
|
|
void EraseAll() override;
|
|
|
|
// possibly time-consuming preparation handling:
|
|
void Prep() override;
|
|
|
|
/* Write a block of data at current offset */
|
|
bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) override;
|
|
uint32_t bufferspace_available() override;
|
|
|
|
// high level interface
|
|
uint16_t find_last_log() override;
|
|
void get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page) override;
|
|
void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) override;
|
|
int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) override;
|
|
uint16_t get_num_logs() override;
|
|
void start_new_log(void) override;
|
|
uint16_t find_oldest_log() override;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
void flush(void) override;
|
|
#endif
|
|
void periodic_1Hz() override;
|
|
void periodic_fullrate() override;
|
|
|
|
// this method is used when reporting system status over mavlink
|
|
bool logging_failed() const override;
|
|
|
|
bool logging_started(void) const override { return _write_fd != -1; }
|
|
|
|
protected:
|
|
|
|
bool WritesOK() const override;
|
|
bool StartNewLogOK() const override;
|
|
|
|
private:
|
|
int _write_fd;
|
|
char *_write_filename;
|
|
uint32_t _last_write_ms;
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
bool _need_rtc_update;
|
|
#endif
|
|
|
|
int _read_fd;
|
|
uint16_t _read_fd_log_num;
|
|
uint32_t _read_offset;
|
|
uint32_t _write_offset;
|
|
volatile uint32_t _open_error_ms;
|
|
const char *_log_directory;
|
|
bool _last_write_failed;
|
|
|
|
uint32_t _io_timer_heartbeat;
|
|
bool io_thread_alive() const;
|
|
uint8_t io_thread_warning_decimation_counter;
|
|
|
|
// do we have a recent open error?
|
|
bool recent_open_error(void) const;
|
|
|
|
// possibly time-consuming preparations handling
|
|
void Prep_MinSpace();
|
|
int64_t disk_space_avail();
|
|
int64_t disk_space();
|
|
|
|
void ensure_log_directory_exists();
|
|
bool NeedPrep();
|
|
|
|
bool file_exists(const char *filename) const;
|
|
bool log_exists(const uint16_t lognum) const;
|
|
|
|
// write buffer
|
|
ByteBuffer _writebuf;
|
|
const uint16_t _writebuf_chunk;
|
|
uint32_t _last_write_time;
|
|
|
|
/* construct a file name given a log number. Caller must free. */
|
|
char *_log_file_name(const uint16_t log_num) const;
|
|
char *_log_file_name_long(const uint16_t log_num) const;
|
|
char *_log_file_name_short(const uint16_t log_num) const;
|
|
char *_lastlog_file_name() const;
|
|
uint32_t _get_log_size(const uint16_t log_num);
|
|
uint32_t _get_log_time(const uint16_t log_num);
|
|
|
|
void stop_logging(void) override;
|
|
|
|
void _io_timer(void);
|
|
|
|
uint32_t last_messagewrite_message_sent;
|
|
|
|
// free-space checks; filling up SD cards under NuttX leads to
|
|
// corrupt filesystems which cause loss of data, failure to gather
|
|
// data and failures-to-boot.
|
|
uint32_t _free_space_last_check_time; // milliseconds
|
|
const uint32_t _free_space_check_interval = 1000UL; // milliseconds
|
|
const uint32_t _free_space_min_avail = 8388608; // bytes
|
|
|
|
// semaphore mediates access to the ringbuffer
|
|
HAL_Semaphore semaphore;
|
|
// write_fd_semaphore mediates access to write_fd so the frontend
|
|
// can open/close files without causing the backend to write to a
|
|
// bad fd
|
|
HAL_Semaphore write_fd_semaphore;
|
|
|
|
// performance counters
|
|
AP_HAL::Util::perf_counter_t _perf_write;
|
|
AP_HAL::Util::perf_counter_t _perf_fsync;
|
|
AP_HAL::Util::perf_counter_t _perf_errors;
|
|
AP_HAL::Util::perf_counter_t _perf_overruns;
|
|
|
|
const char *last_io_operation = "";
|
|
};
|
|
|
|
#endif // HAVE_FILESYSTEM_SUPPORT
|
|
|