logger: publish initial logger_status orb message

.ci/Jenkinsfile-hardware

@@ -694,9 +694,9 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_integrated"'
@@ -709,13 +709,14 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener servorail_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -743,9 +744,9 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "fmu status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_integrated"'
@@ -758,13 +759,14 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener servorail_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /etc"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'

msg/CMakeLists.txt

@@ -76,6 +76,7 @@ set(msg_files
 	landing_target_pose.msg
 	led_control.msg
 	log_message.msg
+	logger_status.msg
 	manual_control_setpoint.msg
 	mavlink_log.msg
 	mission.msg

msg/logger_status.msg

@@ -0,0 +1,20 @@
+uint64 timestamp               # time since system start (microseconds)
+
+uint8 LOGGER_TYPE_FULL    = 0  # Normal, full size log
+uint8 LOGGER_TYPE_MISSION = 1  # reduced mission log (e.g. for geotagging)
+uint8 type
+
+uint8 BACKEND_FILE    = 1
+uint8 BACKEND_MAVLINK = 2
+uint8 BACKEND_ALL     = 3
+uint8 backend
+
+float32 total_written_kb       # total written to log in kiloBytes
+float32 write_rate_kb_s        # write rate in kiloBytes/s
+
+uint32 dropouts                # number of failed buffer writes due to buffer overflow
+
+uint32 buffer_used_bytes       # current buffer fill in Bytes
+uint32 buffer_size_bytes       # total buffer size in Bytes
+
+uint8 num_messages

msg/tools/uorb_rtps_message_ids.yaml

@@ -279,6 +279,8 @@ rtps:
     id: 124
   - msg: vehicle_angular_acceleration
     id: 125
+  - msg: logger_status
+    id: 126
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

src/modules/logger/logged_topics.cpp

@@ -96,6 +96,7 @@ void LoggedTopics::add_default_topics()
 
 	// multi topics
 	add_topic_multi("actuator_outputs", 100);
+	add_topic_multi("logger_status");
 	add_topic_multi("multirotor_motor_limits", 1000);
 	add_topic_multi("telemetry_status", 1000);
 	add_topic_multi("wind_estimate", 1000);

src/modules/logger/logger.cpp

@@ -785,11 +785,34 @@ void Logger::run()
 				_last_sync_time = loop_time;
 			}
 
-			// update buffer statistics
+			// publish logger status
-			for (int i = 0; i < (int)LogType::Count; ++i) {
+			if (hrt_elapsed_time(&_logger_status_last) >= 1_s) {
-				if (!_statistics[i].dropout_start && (_writer.get_buffer_fill_count_file((LogType)i) > _statistics[i].high_water)) {
+				for (int i = 0; i < (int)LogType::Count; ++i) {
-					_statistics[i].high_water = _writer.get_buffer_fill_count_file((LogType)i);
+
+					const LogType log_type = static_cast<LogType>(i);
+
+					if (_writer.is_started(log_type)) {
+
+						const size_t buffer_fill_count_file = _writer.get_buffer_fill_count_file(log_type);
+
+						const float kb_written = _writer.get_total_written_file(log_type) / 1024.0f;
+						const float seconds = hrt_elapsed_time(&_statistics[i].start_time_file) * 1e-6f;
+
+						logger_status_s status;
+						status.type = i;
+						status.backend = _writer.backend();
+						status.total_written_kb = kb_written;
+						status.write_rate_kb_s = kb_written / seconds;
+						status.dropouts = _statistics[i].write_dropouts;
+						status.buffer_used_bytes = buffer_fill_count_file;
+						status.buffer_size_bytes = _writer.get_buffer_size_file(log_type);
+						status.num_messages = _num_subscriptions;
+						status.timestamp = hrt_absolute_time();
+						_logger_status_pub[i].publish(status);
+					}
 				}
+
+				_logger_status_last = hrt_absolute_time();
 			}
 
 			/* release the log buffer */

src/modules/logger/logger.h

@@ -44,8 +44,10 @@
 #include <systemlib/printload.h>
 #include <px4_platform_common/module.h>
 
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/logger_status.h>
 #include <uORB/topics/log_message.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
@@ -335,6 +337,9 @@ private:
 	hrt_abstime					_next_load_print{0}; ///< timestamp when to print the process load
 	PrintLoadReason					_print_load_reason {PrintLoadReason::Preflight};
 
+	uORB::PublicationMulti<logger_status_s>		_logger_status_pub[2] { ORB_ID(logger_status), ORB_ID(logger_status) };
+	hrt_abstime					_logger_status_last{0};
+
 	uORB::Subscription				_manual_control_sp_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription				_vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription				_vehicle_status_sub{ORB_ID(vehicle_status)};