forked from Archive/PX4-Autopilot
Copying log analysis file directly to the SD card during logging
This commit is contained in:
Lorenz Meier
parent
8e4c45322e
commit
569938e680
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@ -1,6 +1,61 @@
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clear all
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clc
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%%%%%%%%%%%%%%%%%%%%%%%
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% SYSTEM VECTOR
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%
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% All measurements in NED frame
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%
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% uint64_t timestamp;
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% float gyro[3]; in rad/s
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% float accel[3]; in m/s^2
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% float mag[3]; in Gauss
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% float baro; pressure in millibar
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% float baro_alt; altitude above MSL in meters
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% float baro_temp; in degrees celcius
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% float control[4]; roll, pitch, yaw [-1..1], thrust [0..1]
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% float actuators[8]; motor 1-8, in motor units (PWM: 1000-2000,
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% AR.Drone: 0-512
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% float vbat; battery voltage in volt
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% float adc[3]; remaining auxiliary ADC ports in volt
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% float local_position
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% int32 gps_raw_position
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if exist('sysvector.bin', 'file')
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% Read actuators file
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myFile = java.io.File('sysvector.bin')
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fileSize = length(myFile)
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fid = fopen('sysvector.bin', 'r');
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elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+4+3+3)*4));
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for i=1:elements
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% timestamp
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sysvector(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
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% actuators 1-16
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% quadrotor: motor 1-4 on the first four positions
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sysvector(i, 2:32) = fread(fid, 28+3, 'float', 'ieee-le');
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sysvector(i,33:35) = fread(fid, 3, 'int32', 'ieee-le');
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end
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sysvector_interval_seconds = (sysvector(end,1) - sysvector(1:1)) / 1000000
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sysvector_minutes = sysvector_interval_seconds / 60
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% Normalize time
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sysvector(:,1) = (sysvector(:,1) - sysvector(1,1)) / 1000000;
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% Create some basic plots
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% Remove zero rows from GPS
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gps = sysvector(:,33:35);
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gps(~any(gps,2), :) = [];
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plot3(gps(:,1), gps(:,2), gps(:,3));
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plot(sysvector(:,1), sysvector(:,2:32));
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end
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if exist('actuator_outputs0.bin', 'file')
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% Read actuators file
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myFile = java.io.File('actuator_outputs0.bin')
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@ -9,7 +64,7 @@ if exist('actuator_outputs0.bin', 'file')
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fid = fopen('actuator_outputs0.bin', 'r');
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elements = int64(fileSize./(16*4+8))
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for i=1:(elements-2)
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for i=1:elements
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% timestamp
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actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
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% actuators 1-16
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@ -72,6 +72,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
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static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
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static const char *mountpoint = "/fs/microsd";
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static const char *mfile_in = "/etc/logging/logconv.m";
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/**
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* SD log management function.
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@ -90,10 +91,12 @@ static void usage(const char *reason);
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static int file_exist(const char *filename);
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static int file_copy(const char* file_old, const char* file_new);
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/**
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* Print the current status.
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*/
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static void print_sdlog_status();
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static void print_sdlog_status(void);
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/**
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* Create folder for current logging session.
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@ -181,7 +184,17 @@ int create_logfolder(char* folder_path) {
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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 */
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/* folder does not exist, success */
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/* now copy the Matlab/Octave file */
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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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break;
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} else if (mkdir_ret == -1) {
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@ -379,7 +392,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
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* set up poll to block for new data,
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* wait for a maximum of 1000 ms (1 second)
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*/
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const int timeout = 1000;
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// const int timeout = 1000;
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thread_running = true;
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@ -550,3 +563,38 @@ int file_exist(const char *filename)
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return stat(filename, &buffer);
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}
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int file_copy(const char* file_old, const char* file_new)
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{
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FILE *source, *target;
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source = fopen(file_old, "r");
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if( source == NULL )
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{
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warnx("failed opening input file to copy");
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return 1;
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}
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target = fopen(file_new, "w");
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if( target == NULL )
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{
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fclose(source);
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warnx("failed to open output file to copy");
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}
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char buf[128];
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int nread;
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while ((nread = fread(buf, sizeof(buf), 1, source)) > 0) {
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int ret = fwrite(buf, sizeof(buf), 1, target);
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if (ret <= 0) {
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warnx("error writing file");
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break;
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}
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}
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fclose(source);
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fclose(target);
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return 0;
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}
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