forked from Archive/PX4-Autopilot
sdlog2: use GPS time for naming log dirs and files, some fixes
This commit is contained in:
Anton Babushkin
parent
dd9df7b1b0
commit
40a0ac5736
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@ -108,7 +108,7 @@ static bool main_thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
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static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
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static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
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static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
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static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
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static const int MAX_WRITE_CHUNK = 512;
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@ -122,14 +122,17 @@ struct logbuffer_s lb;
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static pthread_mutex_t logbuffer_mutex;
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static pthread_cond_t logbuffer_cond;
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static char folder_path[64];
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static char log_dir[32];
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/* statistics counters */
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static unsigned long log_bytes_written = 0;
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static uint64_t start_time = 0;
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static unsigned long log_bytes_written = 0;
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static unsigned long log_msgs_written = 0;
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static unsigned long log_msgs_skipped = 0;
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/* GPS time, used for log files naming */
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static uint64_t gps_time = 0;
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/* current state of logging */
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static bool logging_enabled = false;
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/* enable logging on start (-e option) */
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@ -138,11 +141,14 @@ static bool log_on_start = false;
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static bool log_when_armed = false;
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/* delay = 1 / rate (rate defined by -r option) */
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static useconds_t sleep_delay = 0;
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/* use date/time for naming directories and files (-t option) */
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static bool log_name_timestamp = false;
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/* helper flag to track system state changes */
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static bool flag_system_armed = false;
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static pthread_t logwriter_pthread = 0;
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static pthread_attr_t logwriter_attr;
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/**
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* Log buffer writing thread. Open and close file here.
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@ -203,9 +209,9 @@ static void handle_command(struct vehicle_command_s *cmd);
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static void handle_status(struct vehicle_status_s *cmd);
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/**
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* Create folder for current logging session. Store folder name in 'log_folder'.
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* Create dir for current logging session. Store dir name in 'log_dir'.
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*/
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static int create_logfolder(void);
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static int create_logdir(void);
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/**
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* Select first free log file name and open it.
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@ -218,11 +224,12 @@ sdlog2_usage(const char *reason)
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if (reason)
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fprintf(stderr, "%s\n", reason);
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errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\n"
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errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
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"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
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"\t-b\tLog buffer size in KiB, default is 8\n"
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"\t-e\tEnable logging by default (if not, can be started by command)\n"
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"\t-a\tLog only when armed (can be still overriden by command)\n");
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"\t-a\tLog only when armed (can be still overriden by command)\n"
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"\t-t\tUse date/time for naming log directories and files\n");
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}
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/**
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@ -280,73 +287,81 @@ int sdlog2_main(int argc, char *argv[])
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exit(1);
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}
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int create_logfolder()
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int create_log_dir()
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{
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/* make folder on sdcard */
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uint16_t folder_number = 1; // start with folder sess001
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/* create dir on sdcard if needed */
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uint16_t dir_number = 1; // start with dir sess001
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int mkdir_ret;
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/* look for the next folder that does not exist */
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while (folder_number <= MAX_NO_LOGFOLDER) {
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/* set up folder path: e.g. /fs/microsd/sess001 */
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sprintf(folder_path, "%s/sess%03u", mountpoint, folder_number);
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mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
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/* the result is -1 if the folder exists */
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if (mkdir_ret == 0) {
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/* folder does not exist, success */
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break;
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} else if (mkdir_ret == -1) {
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/* folder exists already */
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folder_number++;
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continue;
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if (log_name_timestamp && gps_time != 0) {
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/* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */
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time_t gps_time_sec = gps_time / 1000000;
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struct tm t;
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gmtime_r(&gps_time_sec, &t);
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int n = snprintf(log_dir, sizeof(log_dir), "%s/", mountpoint);
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strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t);
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mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
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if (mkdir_ret != 0 && errno != EEXIST) {
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warn("failed creating new dir");
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return -1;
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}
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} else {
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warn("failed creating new folder");
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/* look for the next dir that does not exist */
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while (dir_number <= MAX_NO_LOGFOLDER) {
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/* format log dir: e.g. /fs/microsd/sess001 */
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sprintf(log_dir, "%s/sess%03u", mountpoint, dir_number);
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mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
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if (mkdir_ret != 0) {
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if (errno == EEXIST) {
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/* dir exists already */
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dir_number++;
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continue;
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} else {
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warn("failed creating new dir");
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return -1;
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}
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}
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/* dir does not exist, success */
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break;
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}
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if (folder_number >= MAX_NO_LOGFOLDER) {
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if (dir_number >= MAX_NO_LOGFOLDER) {
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/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
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warnx("all %d possible folders exist already.", MAX_NO_LOGFOLDER);
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warnx("all %d possible dirs exist already.", MAX_NO_LOGFOLDER);
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return -1;
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}
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}
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/* print logging path, important to find log file later */
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warnx("logging to dir: %s", log_dir);
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mavlink_log_info(mavlink_fd, "[sdlog2] logging to dir: %s", log_dir);
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return 0;
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}
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int open_logfile()
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{
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/* make folder on sdcard */
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uint16_t file_number = 1; // start with file log001
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/* string to hold the path to the log */
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char path_buf[64] = "";
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int fd = 0;
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char log_file[64] = "";
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if (log_name_timestamp && gps_time != 0) {
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/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
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int n = snprintf(log_file, sizeof(log_file), "%s/", log_dir);
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time_t gps_time_sec = gps_time / 1000000;
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struct tm t;
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gmtime_r(&gps_time_sec, &t);
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n += strftime(log_file + n, sizeof(log_file) - n, "%H_%M_%S.bin", &t);
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} else {
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uint16_t file_number = 1; // start with file log001
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/* look for the next file that does not exist */
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while (file_number <= MAX_NO_LOGFILE) {
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/* set up file path: e.g. /fs/microsd/sess001/log001.bin */
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sprintf(path_buf, "%s/log%03u.bin", folder_path, file_number);
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/* format log file path: e.g. /fs/microsd/sess001/log001.bin */
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snprintf(log_file, sizeof(log_file), "%s/log%03u.bin", log_dir, file_number);
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if (file_exist(path_buf)) {
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if (!file_exist(log_file)) {
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break;
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}
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file_number++;
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continue;
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}
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fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
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if (fd == 0) {
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warn("opening %s failed", path_buf);
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}
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warnx("logging to: %s.", path_buf);
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mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
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return fd;
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}
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if (file_number > MAX_NO_LOGFILE) {
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@ -354,8 +369,19 @@ int open_logfile()
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warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
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return -1;
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}
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}
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return 0;
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int fd = open(log_file, O_CREAT | O_WRONLY | O_DSYNC);
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if (fd < 0) {
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warn("failed opening %s", log_file);
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mavlink_log_info(mavlink_fd, "[sdlog2] failed opening %s", log_file);
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} else {
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warnx("logging to: %s", log_file);
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mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", log_file);
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}
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return fd;
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}
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static void *logwriter_thread(void *arg)
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@ -363,10 +389,13 @@ static void *logwriter_thread(void *arg)
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/* set name */
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prctl(PR_SET_NAME, "sdlog2_writer", 0);
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struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
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int log_fd = open_logfile();
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if (log_fd < 0)
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return;
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struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
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/* write log messages formats, version and parameters */
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log_bytes_written += write_formats(log_fd);
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log_bytes_written += write_version(log_fd);
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@ -443,7 +472,7 @@ static void *logwriter_thread(void *arg)
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fsync(log_fd);
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close(log_fd);
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return OK;
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return;
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}
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void sdlog2_start_log()
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@ -451,6 +480,22 @@ void sdlog2_start_log()
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warnx("start logging.");
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mavlink_log_info(mavlink_fd, "[sdlog2] start logging");
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/* create log dir if needed */
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if (create_log_dir() != 0) {
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mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
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errx(1, "error creating log dir");
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}
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const char *converter_in = "/etc/logging/conv.zip";
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char *converter_out = malloc(120);
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sprintf(converter_out, "%s/conv.zip", log_dir);
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if (file_copy(converter_in, converter_out)) {
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warnx("unable to copy conversion scripts");
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}
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free(converter_out);
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/* initialize statistics counter */
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log_bytes_written = 0;
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start_time = hrt_absolute_time();
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@ -458,25 +503,23 @@ void sdlog2_start_log()
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log_msgs_skipped = 0;
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/* initialize log buffer emptying thread */
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pthread_attr_t receiveloop_attr;
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pthread_attr_init(&receiveloop_attr);
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pthread_attr_init(&logwriter_attr);
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struct sched_param param;
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/* low priority, as this is expensive disk I/O */
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param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
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(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
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(void)pthread_attr_setschedparam(&logwriter_attr, ¶m);
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pthread_attr_setstacksize(&receiveloop_attr, 2048);
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pthread_attr_setstacksize(&logwriter_attr, 2048);
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logwriter_should_exit = false;
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/* start log buffer emptying thread */
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if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
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if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) {
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errx(1, "error creating logwriter thread");
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}
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logging_enabled = true;
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// XXX we have to destroy the attr at some point
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}
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void sdlog2_stop_log()
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@ -501,6 +544,7 @@ void sdlog2_stop_log()
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}
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logwriter_pthread = 0;
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pthread_attr_destroy(&logwriter_attr);
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sdlog2_status();
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}
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@ -594,12 +638,19 @@ int sdlog2_thread_main(int argc, char *argv[])
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/* log buffer size */
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int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
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logging_enabled = false;
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log_on_start = false;
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log_when_armed = false;
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log_name_timestamp = false;
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flag_system_armed = false;
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/* work around some stupidity in task_create's argv handling */
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argc -= 2;
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argv += 2;
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int ch;
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while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) {
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while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
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switch (ch) {
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case 'r': {
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unsigned long r = strtoul(optarg, NULL, 10);
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@ -632,6 +683,10 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_when_armed = true;
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break;
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case 't':
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log_name_timestamp = true;
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break;
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case '?':
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if (optopt == 'c') {
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warnx("Option -%c requires an argument.", optopt);
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@ -649,27 +704,12 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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}
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gps_time = 0;
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if (!file_exist(mountpoint)) {
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errx(1, "logging mount point %s not present, exiting.", mountpoint);
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}
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if (create_logfolder()) {
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errx(1, "unable to create logging folder, exiting.");
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}
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const char *converter_in = "/etc/logging/conv.zip";
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char *converter_out = malloc(120);
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sprintf(converter_out, "%s/conv.zip", folder_path);
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if (file_copy(converter_in, converter_out)) {
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errx(1, "unable to copy conversion scripts, exiting.");
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}
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free(converter_out);
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/* only print logging path, important to find log file later */
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warnx("logging to directory: %s", folder_path);
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/* initialize log buffer with specified size */
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warnx("log buffer size: %i bytes.", log_buffer_size);
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@ -919,15 +959,22 @@ int sdlog2_thread_main(int argc, char *argv[])
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uint16_t differential_pressure_counter = 0;
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/* enable logging on start if needed */
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if (log_on_start)
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if (log_on_start) {
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/* check GPS topic to get GPS time */
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if (log_name_timestamp) {
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if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) {
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gps_time = buf.gps_pos.time_gps_usec;
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}
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}
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sdlog2_start_log();
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}
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while (!main_thread_should_exit) {
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/* decide use usleep() or blocking poll() */
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bool use_sleep = sleep_delay > 0 && logging_enabled;
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/* poll all topics if logging enabled or only management (first 2) if not */
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int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout);
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int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout);
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/* handle the poll result */
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if (poll_ret < 0) {
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@ -960,6 +1007,17 @@ int sdlog2_thread_main(int argc, char *argv[])
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handled_topics++;
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}
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/* --- GPS POSITION - LOG MANAGEMENT --- */
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if (fds[ifds++].revents & POLLIN) {
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orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
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if (log_name_timestamp) {
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gps_time = buf.gps_pos.time_gps_usec;
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}
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handled_topics++;
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}
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if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
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continue;
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}
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@ -988,7 +1046,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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/* --- GPS POSITION --- */
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if (fds[ifds++].revents & POLLIN) {
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orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
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// Don't orb_copy, it's already done few lines above
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log_msg.msg_type = LOG_GPS_MSG;
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log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
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log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
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