aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Logger: allow for retry of log open with LOG_DISARMED=1

Browse Source 
if booting without a microSD and with LOG_DISARMED=1 then this allows
for a retry of opening the log every 5s
This commit is contained in:
Andrew Tridgell 2019-10-04 12:10:39 +10:00 committed by Peter Barker
parent ce839cfef9
commit 66596dcf25
2 changed files with 51 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
libraries/AP_Logger/AP_Logger_File.cpp
View File

@ -36,6 +36,9 @@ extern const AP_HAL::HAL& hal;
#define MB_to_B 1000000
#define B_to_MB 0.000001
// time between tries to open log
#define LOGGER_FILE_REOPEN_MS 5000
/*
constructor
*/
@ -134,6 +137,17 @@ void AP_Logger_File::periodic_1Hz()
{
AP_Logger_Backend::periodic_1Hz();
if (_initialised &&
_write_fd == -1 && _read_fd == -1 &&
logging_enabled() &&
!recent_open_error() &&
!hal.util->get_soft_armed()) {
// retry logging open. This allows for booting with
// LOG_DISARMED=1 with a bad microSD or no microSD. Once a
// card is inserted then logging starts
start_new_log();
}
if (!io_thread_alive()) {
if (io_thread_warning_decimation_counter == 0 && _initialised) {
// we don't print this error unless we did initialise. When _initialised is set to true
@ -167,10 +181,18 @@ uint32_t AP_Logger_File::bufferspace_available()
return (space > crit) ? space - crit : 0;
}
bool AP_Logger_File::recent_open_error(void) const
{
if (_open_error_ms == 0) {
return false;
}
return AP_HAL::millis() - _open_error_ms < LOGGER_FILE_REOPEN_MS;
}
// return true for CardInserted() if we successfully initialized
bool AP_Logger_File::CardInserted(void) const
{
return _initialised && !_open_error;
return _initialised && !recent_open_error();
}
// returns the amount of disk space available in _log_directory (in bytes)
@ -450,7 +472,7 @@ bool AP_Logger_File::WritesOK() const
if (_write_fd == -1) {
return false;
}
if (_open_error) {
if (recent_open_error()) {
return false;
}
return true;
@ -459,7 +481,7 @@ bool AP_Logger_File::WritesOK() const
bool AP_Logger_File::StartNewLogOK() const
{
if (_open_error) {
if (recent_open_error()) {
return false;
}
return AP_Logger_Backend::StartNewLogOK();
@ -559,7 +581,9 @@ uint32_t AP_Logger_File::_get_log_size(const uint16_t log_num)
struct stat st;
EXPECT_DELAY_MS(3000);
if (AP::FS().stat(fname, &st) != 0) {
printf("Unable to fetch Log File Size: %s\n", strerror(errno));
if (_open_error_ms == 0) {
printf("Unable to fetch Log File Size (%s): %s\n", fname, strerror(errno));
}
free(fname);
return 0;
}
@ -618,7 +642,7 @@ void AP_Logger_File::get_log_boundaries(const uint16_t list_entry, uint32_t & st
*/
int16_t AP_Logger_File::get_log_data(const uint16_t list_entry, const uint16_t page, const uint32_t offset, const uint16_t len, uint8_t *data)
{
if (!_initialised || _open_error) {
if (!_initialised || recent_open_error()) {
return -1;
}
@ -641,7 +665,7 @@ int16_t AP_Logger_File::get_log_data(const uint16_t list_entry, const uint16_t p
EXPECT_DELAY_MS(3000);
_read_fd = AP::FS().open(fname, O_RDONLY);
if (_read_fd == -1) {
_open_error = true;
_open_error_ms = AP_HAL::millis();
int saved_errno = errno;
::printf("Log read open fail for %s - %s\n",
fname, strerror(saved_errno));
@ -737,19 +761,21 @@ void AP_Logger_File::stop_logging(void)
*/
void AP_Logger_File::start_new_log(void)
{
if (_open_error) {
if (recent_open_error()) {
// we have previously failed to open a file - don't try again
// to prevent us trying to open files while in flight
return;
}
const bool open_error_ms_was_zero = (_open_error_ms == 0);
// set _open_error here to avoid infinite recursion. Simply
// writing a prioritised block may try to open a log - which means
// if anything in the start_new_log path does a gcs().send_text()
// (for example), you will end up recursing if we don't take
// precautions. We will reset _open_error if we actually manage
// to open the log...
_open_error = true;
_open_error_ms = AP_HAL::millis();
stop_logging();
@ -800,16 +826,18 @@ void AP_Logger_File::start_new_log(void)
_cached_oldest_log = 0;
if (_write_fd == -1) {
_initialised = false;
write_fd_semaphore.give();
int saved_errno = errno;
::printf("Log open fail for %s - %s\n",
_write_filename, strerror(saved_errno));
hal.console->printf("Log open fail for %s - %s\n",
_write_filename, strerror(saved_errno));
if (open_error_ms_was_zero) {
::printf("Log open fail for %s - %s\n",
_write_filename, strerror(saved_errno));
hal.console->printf("Log open fail for %s - %s\n",
_write_filename, strerror(saved_errno));
}
return;
}
_last_write_ms = AP_HAL::millis();
_open_error_ms = 0;
_write_offset = 0;
_writebuf.clear();
write_fd_semaphore.give();
@ -821,6 +849,7 @@ void AP_Logger_File::start_new_log(void)
int fd = AP::FS().open(fname, O_WRONLY|O_CREAT);
free(fname);
if (fd == -1) {
_open_error_ms = AP_HAL::millis();
return;
}
@ -831,9 +860,9 @@ void AP_Logger_File::start_new_log(void)
AP::FS().close(fd);
if (written < to_write) {
_open_error_ms = AP_HAL::millis();
return;
}
_open_error = false;
return;
}
@ -844,7 +873,7 @@ void AP_Logger_File::flush(void)
#if APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
{
uint32_t tnow = AP_HAL::millis();
while (_write_fd != -1 && _initialised && !_open_error && _writebuf.available()) {
while (_write_fd != -1 && _initialised && !recent_open_error() && _writebuf.available()) {
// convince the IO timer that it really is OK to write out
// less than _writebuf_chunk bytes:
if (tnow > 2001) { // avoid resetting _last_write_time to 0
@ -872,7 +901,7 @@ void AP_Logger_File::_io_timer(void)
{
uint32_t tnow = AP_HAL::millis();
_io_timer_heartbeat = tnow;
if (_write_fd == -1 || !_initialised || _open_error) {
if (_write_fd == -1 || !_initialised || recent_open_error()) {
return;
}
@ -892,7 +921,7 @@ void AP_Logger_File::_io_timer(void)
if (disk_space_avail() < _free_space_min_avail && disk_space() > 0) {
hal.console->printf("Out of space for logging\n");
stop_logging();
_open_error = true; // prevent logging starting again
_open_error_ms = AP_HAL::millis(); // prevent logging starting again for 5s
last_io_operation = "";
return;
}
@ -939,7 +968,6 @@ void AP_Logger_File::_io_timer(void)
AP::FS().close(_write_fd);
last_io_operation = "";
_write_fd = -1;
_initialised = false;
printf("Failed to write to File: %s\n", strerror(errno));
}
_last_write_failed = true;
@ -989,7 +1017,7 @@ bool AP_Logger_File::logging_failed() const
if (!_initialised) {
return true;
}
if (_open_error) {
if (recent_open_error()) {
return true;
}
if (!io_thread_alive()) {

5
libraries/AP_Logger/AP_Logger_File.h
View File

@ -72,7 +72,7 @@ private:
uint16_t _read_fd_log_num;
uint32_t _read_offset;
uint32_t _write_offset;
volatile bool _open_error;
volatile uint32_t _open_error_ms;
const char *_log_directory;
bool _last_write_failed;
@ -80,6 +80,9 @@ private:
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();