forked from Archive/PX4-Autopilot
Merge pull request #309 from DrTon/sdlog2
sdlog2 critical bug fixed, added ARSP message
This commit is contained in:
Lorenz Meier
commit
419750fe61
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@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
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} else {
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// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
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n = lb->size - lb->read_ptr;
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*is_part = true;
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*is_part = lb->write_ptr > 0;
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}
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*ptr = &(lb->data[lb->read_ptr]);
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@ -64,6 +64,7 @@
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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@ -113,35 +114,34 @@ static const int MAX_WRITE_CHUNK = 512;
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static const int MIN_BYTES_TO_WRITE = 512;
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static const char *mountpoint = "/fs/microsd";
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int log_file = -1;
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int mavlink_fd = -1;
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static int mavlink_fd = -1;
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struct logbuffer_s lb;
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/* mutex / condition to synchronize threads */
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pthread_mutex_t logbuffer_mutex;
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pthread_cond_t logbuffer_cond;
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static pthread_mutex_t logbuffer_mutex;
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static pthread_cond_t logbuffer_cond;
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char folder_path[64];
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static char folder_path[64];
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/* statistics counters */
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unsigned long log_bytes_written = 0;
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uint64_t start_time = 0;
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unsigned long log_msgs_written = 0;
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unsigned long log_msgs_skipped = 0;
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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_msgs_written = 0;
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static unsigned long log_msgs_skipped = 0;
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/* current state of logging */
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bool logging_enabled = false;
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static bool logging_enabled = false;
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/* enable logging on start (-e option) */
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bool log_on_start = false;
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static bool log_on_start = false;
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/* enable logging when armed (-a option) */
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bool log_when_armed = 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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useconds_t sleep_delay = 0;
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static useconds_t sleep_delay = 0;
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/* helper flag to track system state changes */
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bool flag_system_armed = false;
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static bool flag_system_armed = false;
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pthread_t logwriter_pthread = 0;
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static pthread_t logwriter_pthread = 0;
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/**
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* Log buffer writing thread. Open and close file here.
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@ -171,17 +171,17 @@ static void sdlog2_status(void);
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/**
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* Start logging: create new file and start log writer thread.
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*/
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void sdlog2_start_log();
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static void sdlog2_start_log(void);
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/**
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* Stop logging: stop log writer thread and close log file.
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*/
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void sdlog2_stop_log();
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static void sdlog2_stop_log(void);
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/**
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* Write a header to log file: list of message formats.
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*/
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void write_formats(int fd);
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static void write_formats(int fd);
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static bool file_exist(const char *filename);
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@ -195,12 +195,12 @@ 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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*/
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static int create_logfolder();
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static int create_logfolder(void);
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/**
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* Select first free log file name and open it.
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*/
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static int open_logfile();
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static int open_logfile(void);
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static void
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sdlog2_usage(const char *reason)
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@ -285,22 +285,6 @@ int create_logfolder()
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if (mkdir_ret == 0) {
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/* folder does not exist, success */
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/* copy parser script file */
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// TODO
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/*
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char mfile_out[100];
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sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
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int ret = file_copy(mfile_in, mfile_out);
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if (!ret) {
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warnx("copied m file to %s", mfile_out);
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} else {
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warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
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}
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*/
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break;
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} else if (mkdir_ret == -1) {
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@ -402,6 +386,11 @@ static void *logwriter_thread(void *arg)
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/* only get pointer to thread-safe data, do heavy I/O a few lines down */
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int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
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#ifdef SDLOG2_DEBUG
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int rp = logbuf->read_ptr;
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int wp = logbuf->write_ptr;
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#endif
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/* continue */
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pthread_mutex_unlock(&logbuffer_mutex);
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@ -418,7 +407,7 @@ static void *logwriter_thread(void *arg)
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should_wait = (n == available) && !is_part;
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#ifdef SDLOG2_DEBUG
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printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
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printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
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#endif
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if (n < 0) {
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@ -431,14 +420,14 @@ static void *logwriter_thread(void *arg)
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}
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} else {
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n = 0;
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should_wait = true;
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}
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if (poll_count % 10 == 0) {
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if (++poll_count == 10) {
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fsync(log_file);
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poll_count = 0;
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}
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poll_count++;
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}
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fsync(log_file);
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@ -607,12 +596,9 @@ int sdlog2_thread_main(int argc, char *argv[])
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errx(1, "can't allocate log buffer, exiting.");
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}
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/* file descriptors to wait for */
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struct pollfd fds_control[2];
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/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
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/* number of messages */
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const ssize_t fdsc = 16;
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const ssize_t fdsc = 17;
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/* Sanity check variable and index */
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ssize_t fdsc_count = 0;
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/* file descriptors to wait for */
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@ -627,6 +613,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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struct sensor_combined_s sensor;
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struct vehicle_attitude_s att;
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struct vehicle_attitude_setpoint_s att_sp;
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struct vehicle_rates_setpoint_s rates_sp;
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struct actuator_outputs_s act_outputs;
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struct actuator_controls_s act_controls;
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struct actuator_controls_effective_s act_controls_effective;
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@ -648,6 +635,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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int sensor_sub;
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int att_sub;
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int att_sp_sub;
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int rates_sp_sub;
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int act_outputs_sub;
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int act_controls_sub;
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int act_controls_effective_sub;
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@ -679,6 +667,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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struct log_RC_s log_RC;
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struct log_OUT0_s log_OUT0;
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struct log_AIRS_s log_AIRS;
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struct log_ARSP_s log_ARSP;
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} body;
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} log_msg = {
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LOG_PACKET_HEADER_INIT(0)
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@ -722,6 +711,12 @@ int sdlog2_thread_main(int argc, char *argv[])
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fds[fdsc_count].events = POLLIN;
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fdsc_count++;
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/* --- RATES SETPOINT --- */
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subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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fds[fdsc_count].fd = subs.rates_sp_sub;
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fds[fdsc_count].events = POLLIN;
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fdsc_count++;
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/* --- ACTUATOR OUTPUTS --- */
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subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
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fds[fdsc_count].fd = subs.act_outputs_sub;
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@ -891,7 +886,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
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log_msg.body.log_GPS.lat = buf.gps_pos.lat;
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log_msg.body.log_GPS.lon = buf.gps_pos.lon;
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log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001;
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log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
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log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
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log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
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log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
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@ -961,6 +956,9 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_ATT.roll = buf.att.roll;
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log_msg.body.log_ATT.pitch = buf.att.pitch;
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log_msg.body.log_ATT.yaw = buf.att.yaw;
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log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
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log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
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log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
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LOGBUFFER_WRITE_AND_COUNT(ATT);
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}
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@ -971,9 +969,20 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
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log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
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log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
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log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
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LOGBUFFER_WRITE_AND_COUNT(ATSP);
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}
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/* --- RATES SETPOINT --- */
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if (fds[ifds++].revents & POLLIN) {
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orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
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log_msg.msg_type = LOG_ARSP_MSG;
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log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
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log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
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log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
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LOGBUFFER_WRITE_AND_COUNT(ARSP);
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}
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/* --- ACTUATOR OUTPUTS --- */
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if (fds[ifds++].revents & POLLIN) {
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orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
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@ -1063,10 +1072,13 @@ int sdlog2_thread_main(int argc, char *argv[])
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LOGBUFFER_WRITE_AND_COUNT(AIRS);
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}
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#ifdef SDLOG2_DEBUG
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printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
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#endif
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/* signal the other thread new data, but not yet unlock */
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if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
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#ifdef SDLOG2_DEBUG
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printf("signal %i", logbuffer_count(&lb));
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printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
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#endif
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/* only request write if several packets can be written at once */
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pthread_cond_signal(&logbuffer_cond);
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@ -60,6 +60,9 @@ struct log_ATT_s {
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float roll;
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float pitch;
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float yaw;
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float roll_rate;
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float pitch_rate;
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float yaw_rate;
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};
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/* --- ATSP - ATTITUDE SET POINT --- */
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@ -68,6 +71,7 @@ struct log_ATSP_s {
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float roll_sp;
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float pitch_sp;
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float yaw_sp;
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float thrust_sp;
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};
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/* --- IMU - IMU SENSORS --- */
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@ -174,14 +178,22 @@ struct log_AIRS_s {
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float indicated_airspeed;
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float true_airspeed;
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};
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/* --- ARSP - ATTITUDE RATE SET POINT --- */
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#define LOG_ARSP_MSG 14
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struct log_ARSP_s {
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float roll_rate_sp;
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float pitch_rate_sp;
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float yaw_rate_sp;
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};
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#pragma pack(pop)
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/* construct list of all message formats */
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static const struct log_format_s log_formats[] = {
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LOG_FORMAT(TIME, "Q", "StartTime"),
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LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
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LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
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LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
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LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
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LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
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LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
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LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
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@ -192,6 +204,7 @@ static const struct log_format_s log_formats[] = {
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LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
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LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
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LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
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LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
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};
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static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
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