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logger refactor: add ulog_ prefix to struct names and header length

This commit is contained in:
Beat Küng 2016-05-31 17:32:13 +02:00 committed by Lorenz Meier
parent 078e79f294
commit 0e3d660ccd
3 changed files with 62 additions and 62 deletions
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4
src/modules/logger/log_writer.cpp
View File

@ -250,7 +250,7 @@ bool LogWriter::write(void *ptr, size_t size, uint64_t dropout_start)
size_t dropout_size = 0; size_t dropout_size = 0;
if (dropout_start) { if (dropout_start) {
dropout_size = sizeof(message_dropout_s); dropout_size = sizeof(ulog_message_dropout_s);
} }
if (size + dropout_size > available) { if (size + dropout_size > available) {
@ -260,7 +260,7 @@ bool LogWriter::write(void *ptr, size_t size, uint64_t dropout_start)
if (dropout_start) { if (dropout_start) {
//write dropout msg //write dropout msg
message_dropout_s dropout_msg; ulog_message_dropout_s dropout_msg;
dropout_msg.duration = (uint16_t)(hrt_elapsed_time(&dropout_start) / 1000); dropout_msg.duration = (uint16_t)(hrt_elapsed_time(&dropout_start) / 1000);
write_no_check(&dropout_msg, sizeof(dropout_msg)); write_no_check(&dropout_msg, sizeof(dropout_msg));
} }

62
src/modules/logger/logger.cpp
View File

@ -341,9 +341,9 @@ int Logger::add_topic(const orb_metadata *topic)
size_t fields_len = strlen(topic->o_fields) + strlen(topic->o_name) + 1; //1 for ':' size_t fields_len = strlen(topic->o_fields) + strlen(topic->o_name) + 1; //1 for ':'
if (fields_len > sizeof(message_format_s::format)) { if (fields_len > sizeof(ulog_message_format_s::format)) {
PX4_WARN("skip topic %s, format string is too large: %zu (max is %zu)", topic->o_name, fields_len, PX4_WARN("skip topic %s, format string is too large: %zu (max is %zu)", topic->o_name, fields_len,
sizeof(message_format_s::format)); sizeof(ulog_message_format_s::format));
return -1; return -1;
} }
@ -537,18 +537,18 @@ void Logger::run()
for (LoggerSubscription &sub : _subscriptions) { for (LoggerSubscription &sub : _subscriptions) {
/* each message consists of a header followed by an orb data object /* each message consists of a header followed by an orb data object
*/ */
size_t msg_size = sizeof(message_data_header_s) + sub.metadata->o_size_no_padding; size_t msg_size = sizeof(ulog_message_data_header_s) + sub.metadata->o_size_no_padding;
uint8_t buffer[msg_size]; uint8_t buffer[msg_size];
/* if this topic has been updated, copy the new data into the message buffer /* if this topic has been updated, copy the new data into the message buffer
* and write a message to the log * and write a message to the log
*/ */
for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) { for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
if (copy_if_updated_multi(sub, instance, buffer + sizeof(message_data_header_s))) { if (copy_if_updated_multi(sub, instance, buffer + sizeof(ulog_message_data_header_s))) {
message_data_header_s *header = reinterpret_cast<message_data_header_s *>(buffer); ulog_message_data_header_s *header = reinterpret_cast<ulog_message_data_header_s *>(buffer);
header->msg_type = static_cast<uint8_t>(MessageType::DATA); header->msg_type = static_cast<uint8_t>(ULogMessageType::DATA);
header->msg_size = static_cast<uint16_t>(msg_size - MSG_HEADER_LEN); header->msg_size = static_cast<uint16_t>(msg_size - ULOG_MSG_HEADER_LEN);
header->msg_id = sub.msg_ids[instance]; header->msg_id = sub.msg_ids[instance];
//PX4_INFO("topic: %s, size = %zu, out_size = %zu", sub.metadata->o_name, sub.metadata->o_size, msg_size); //PX4_INFO("topic: %s, size = %zu, out_size = %zu", sub.metadata->o_name, sub.metadata->o_size, msg_size);
@ -571,7 +571,7 @@ void Logger::run()
//check for new mavlink log message //check for new mavlink log message
if (mavlink_log_sub.check_updated()) { if (mavlink_log_sub.check_updated()) {
mavlink_log_sub.update(); mavlink_log_sub.update();
message_logging_s log_msg; ulog_message_logging_s log_msg;
log_msg.log_level = mavlink_log_sub.get().severity + '0'; log_msg.log_level = mavlink_log_sub.get().severity + '0';
log_msg.timestamp = mavlink_log_sub.get().timestamp; log_msg.timestamp = mavlink_log_sub.get().timestamp;
const char *message = (const char *)mavlink_log_sub.get().text; const char *message = (const char *)mavlink_log_sub.get().text;
@ -579,8 +579,8 @@ void Logger::run()
if (message_len > 0) { if (message_len > 0) {
strncpy(log_msg.message, message, sizeof(log_msg.message)); strncpy(log_msg.message, message, sizeof(log_msg.message));
log_msg.msg_size = sizeof(log_msg) - sizeof(log_msg.message) - MSG_HEADER_LEN + message_len; log_msg.msg_size = sizeof(log_msg) - sizeof(log_msg.message) - ULOG_MSG_HEADER_LEN + message_len;
write(&log_msg, log_msg.msg_size + MSG_HEADER_LEN); write(&log_msg, log_msg.msg_size + ULOG_MSG_HEADER_LEN);
} }
} }
@ -890,14 +890,14 @@ bool Logger::write_wait(void *ptr, size_t size)
void Logger::write_formats() void Logger::write_formats()
{ {
_writer.lock(); _writer.lock();
message_format_s msg; ulog_message_format_s msg;
const orb_metadata **topics = orb_get_topics(); const orb_metadata **topics = orb_get_topics();
//write all known formats //write all known formats
for (size_t i = 0; i < orb_topics_count(); i++) { for (size_t i = 0; i < orb_topics_count(); i++) {
int format_len = snprintf(msg.format, sizeof(msg.format), "%s:%s", topics[i]->o_name, topics[i]->o_fields); int format_len = snprintf(msg.format, sizeof(msg.format), "%s:%s", topics[i]->o_name, topics[i]->o_fields);
size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_len; size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_len;
msg.msg_size = msg_size - MSG_HEADER_LEN; msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(&msg, msg_size); write_wait(&msg, msg_size);
} }
@ -922,7 +922,7 @@ void Logger::write_all_add_logged_msg()
void Logger::write_add_logged_msg(LoggerSubscription &subscription, int instance) void Logger::write_add_logged_msg(LoggerSubscription &subscription, int instance)
{ {
message_add_logged_s msg; ulog_message_add_logged_s msg;
msg.multi_id = instance; msg.multi_id = instance;
subscription.msg_ids[instance] = _next_topic_id; subscription.msg_ids[instance] = _next_topic_id;
@ -933,7 +933,7 @@ void Logger::write_add_logged_msg(LoggerSubscription &subscription, int instance
memcpy(msg.message_name, subscription.metadata->o_name, message_name_len); memcpy(msg.message_name, subscription.metadata->o_name, message_name_len);
size_t msg_size = sizeof(msg) - sizeof(msg.message_name) + message_name_len; size_t msg_size = sizeof(msg) - sizeof(msg.message_name) + message_name_len;
msg.msg_size = msg_size - MSG_HEADER_LEN; msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(&msg, msg_size); write_wait(&msg, msg_size);
@ -944,9 +944,9 @@ void Logger::write_add_logged_msg(LoggerSubscription &subscription, int instance
void Logger::write_info(const char *name, const char *value) void Logger::write_info(const char *name, const char *value)
{ {
_writer.lock(); _writer.lock();
uint8_t buffer[sizeof(message_info_header_s)]; uint8_t buffer[sizeof(ulog_message_info_header_s)];
message_info_header_s *msg = reinterpret_cast<message_info_header_s *>(buffer); ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(MessageType::INFO); msg->msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
/* construct format key (type and name) */ /* construct format key (type and name) */
size_t vlen = strlen(value); size_t vlen = strlen(value);
@ -958,7 +958,7 @@ void Logger::write_info(const char *name, const char *value)
memcpy(&buffer[msg_size], value, vlen); memcpy(&buffer[msg_size], value, vlen);
msg_size += vlen; msg_size += vlen;
msg->msg_size = msg_size - MSG_HEADER_LEN; msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(buffer, msg_size); write_wait(buffer, msg_size);
} }
@ -968,9 +968,9 @@ void Logger::write_info(const char *name, const char *value)
void Logger::write_info(const char *name, int32_t value) void Logger::write_info(const char *name, int32_t value)
{ {
_writer.lock(); _writer.lock();
uint8_t buffer[sizeof(message_info_header_s)]; uint8_t buffer[sizeof(ulog_message_info_header_s)];
message_info_header_s *msg = reinterpret_cast<message_info_header_s *>(buffer); ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(MessageType::INFO); msg->msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
/* construct format key (type and name) */ /* construct format key (type and name) */
msg->key_len = snprintf(msg->key, sizeof(msg->key), "int32_t %s", name); msg->key_len = snprintf(msg->key, sizeof(msg->key), "int32_t %s", name);
@ -980,7 +980,7 @@ void Logger::write_info(const char *name, int32_t value)
memcpy(&buffer[msg_size], &value, sizeof(int32_t)); memcpy(&buffer[msg_size], &value, sizeof(int32_t));
msg_size += sizeof(int32_t); msg_size += sizeof(int32_t);
msg->msg_size = msg_size - MSG_HEADER_LEN; msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(buffer, msg_size); write_wait(buffer, msg_size);
@ -989,7 +989,7 @@ void Logger::write_info(const char *name, int32_t value)
void Logger::write_header() void Logger::write_header()
{ {
message_file_header_s header; ulog_file_header_s header;
header.magic[0] = 'U'; header.magic[0] = 'U';
header.magic[1] = 'L'; header.magic[1] = 'L';
header.magic[2] = 'o'; header.magic[2] = 'o';
@ -1025,10 +1025,10 @@ void Logger::write_version()
void Logger::write_parameters() void Logger::write_parameters()
{ {
_writer.lock(); _writer.lock();
uint8_t buffer[sizeof(message_parameter_header_s) + sizeof(param_value_u)]; uint8_t buffer[sizeof(ulog_message_parameter_header_s) + sizeof(param_value_u)];
message_parameter_header_s *msg = reinterpret_cast<message_parameter_header_s *>(buffer); ulog_message_parameter_header_s *msg = reinterpret_cast<ulog_message_parameter_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(MessageType::PARAMETER); msg->msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
int param_idx = 0; int param_idx = 0;
param_t param = 0; param_t param = 0;
@ -1069,7 +1069,7 @@ void Logger::write_parameters()
param_get(param, &buffer[msg_size]); param_get(param, &buffer[msg_size]);
msg_size += value_size; msg_size += value_size;
msg->msg_size = msg_size - MSG_HEADER_LEN; msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(buffer, msg_size); write_wait(buffer, msg_size);
} }
@ -1082,10 +1082,10 @@ void Logger::write_parameters()
void Logger::write_changed_parameters() void Logger::write_changed_parameters()
{ {
_writer.lock(); _writer.lock();
uint8_t buffer[sizeof(message_parameter_header_s) + sizeof(param_value_u)]; uint8_t buffer[sizeof(ulog_message_parameter_header_s) + sizeof(param_value_u)];
message_parameter_header_s *msg = reinterpret_cast<message_parameter_header_s *>(buffer); ulog_message_parameter_header_s *msg = reinterpret_cast<ulog_message_parameter_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(MessageType::PARAMETER); msg->msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
int param_idx = 0; int param_idx = 0;
param_t param = 0; param_t param = 0;
@ -1129,7 +1129,7 @@ void Logger::write_changed_parameters()
msg_size += value_size; msg_size += value_size;
/* msg_size is now 1 (msg_type) + 2 (msg_size) + 1 (key_len) + key_len + value_size */ /* msg_size is now 1 (msg_type) + 2 (msg_size) + 1 (key_len) + key_len + value_size */
msg->msg_size = msg_size - MSG_HEADER_LEN; msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_wait(buffer, msg_size); write_wait(buffer, msg_size);
} }

58
src/modules/logger/messages.h
View File

@ -33,7 +33,7 @@
#pragma once #pragma once
enum class MessageType : uint8_t { enum class ULogMessageType : uint8_t {
FORMAT = 'F', FORMAT = 'F',
DATA = 'D', DATA = 'D',
INFO = 'I', INFO = 'I',
@ -49,78 +49,78 @@ enum class MessageType : uint8_t {
/* declare message data structs with byte alignment (no padding) */ /* declare message data structs with byte alignment (no padding) */
#pragma pack(push, 1) #pragma pack(push, 1)
#define MSG_HEADER_LEN 3 //accounts for msg_size and msg_type #define ULOG_MSG_HEADER_LEN 3 //accounts for msg_size and msg_type
/** first bytes of the file */ /** first bytes of the file */
struct message_file_header_s { struct ulog_file_header_s {
uint8_t magic[8]; uint8_t magic[8];
uint64_t timestamp; uint64_t timestamp;
}; };
struct message_format_s { struct ulog_message_format_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::FORMAT); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FORMAT);
char format[2096]; char format[2096];
}; };
struct message_add_logged_s { struct ulog_message_add_logged_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::ADD_LOGGED_MSG); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::ADD_LOGGED_MSG);
uint8_t multi_id; uint8_t multi_id;
uint16_t msg_id; uint16_t msg_id;
char message_name[255]; char message_name[255];
}; };
struct message_remove_logged_s { struct ulog_message_remove_logged_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::REMOVE_LOGGED_MSG); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::REMOVE_LOGGED_MSG);
uint16_t msg_id; uint16_t msg_id;
}; };
struct message_sync_s { struct ulog_message_sync_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::SYNC); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::SYNC);
uint8_t sync_magic[8]; uint8_t sync_magic[8];
}; };
struct message_dropout_s { struct ulog_message_dropout_s {
uint16_t msg_size = sizeof(uint16_t); //size of message - MSG_HEADER_LEN uint16_t msg_size = sizeof(uint16_t); //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::DROPOUT); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DROPOUT);
uint16_t duration; //in ms uint16_t duration; //in ms
}; };
struct message_data_header_s { struct ulog_message_data_header_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::DATA); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DATA);
uint16_t msg_id; uint16_t msg_id;
}; };
struct message_info_header_s { struct ulog_message_info_header_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::INFO); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
uint8_t key_len; uint8_t key_len;
char key[255]; char key[255];
}; };
struct message_logging_s { struct ulog_message_logging_s {
uint16_t msg_size; //size of message - MSG_HEADER_LEN uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
uint8_t msg_type = static_cast<uint8_t>(MessageType::LOGGING); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING);
uint8_t log_level; //same levels as in the linux kernel uint8_t log_level; //same levels as in the linux kernel
uint64_t timestamp; uint64_t timestamp;
char message[255]; char message[255];
}; };
struct message_parameter_header_s { struct ulog_message_parameter_header_s {
uint16_t msg_size; uint16_t msg_size;
uint8_t msg_type = static_cast<uint8_t>(MessageType::PARAMETER); uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
uint8_t key_len; uint8_t key_len;
char key[255]; char key[255];