From a11895ac43b4e345ebd04d9999f386bc1408b98e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 17 Jun 2013 16:06:35 +0400 Subject: [PATCH] Critical bug fixed, cleanup --- src/modules/sdlog2/logbuffer.c | 2 +- src/modules/sdlog2/sdlog2.c | 80 +++++++++++++++------------------- 2 files changed, 35 insertions(+), 47 deletions(-) diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c index 8aaafaf316..2e1e4fd4da 100644 --- a/src/modules/sdlog2/logbuffer.c +++ b/src/modules/sdlog2/logbuffer.c @@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part) } else { // read pointer is after write pointer, read bytes from read_ptr to end of the buffer n = lb->size - lb->read_ptr; - *is_part = true; + *is_part = lb->write_ptr > 0; } *ptr = &(lb->data[lb->read_ptr]); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 178986f610..6715b57f5e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -114,35 +114,34 @@ static const int MAX_WRITE_CHUNK = 512; static const int MIN_BYTES_TO_WRITE = 512; static const char *mountpoint = "/fs/microsd"; -int log_file = -1; -int mavlink_fd = -1; +static int mavlink_fd = -1; struct logbuffer_s lb; /* mutex / condition to synchronize threads */ -pthread_mutex_t logbuffer_mutex; -pthread_cond_t logbuffer_cond; +static pthread_mutex_t logbuffer_mutex; +static pthread_cond_t logbuffer_cond; -char folder_path[64]; +static char folder_path[64]; /* statistics counters */ -unsigned long log_bytes_written = 0; -uint64_t start_time = 0; -unsigned long log_msgs_written = 0; -unsigned long log_msgs_skipped = 0; +static unsigned long log_bytes_written = 0; +static uint64_t start_time = 0; +static unsigned long log_msgs_written = 0; +static unsigned long log_msgs_skipped = 0; /* current state of logging */ -bool logging_enabled = false; +static bool logging_enabled = false; /* enable logging on start (-e option) */ -bool log_on_start = false; +static bool log_on_start = false; /* enable logging when armed (-a option) */ -bool log_when_armed = false; +static bool log_when_armed = false; /* delay = 1 / rate (rate defined by -r option) */ -useconds_t sleep_delay = 0; +static useconds_t sleep_delay = 0; /* helper flag to track system state changes */ -bool flag_system_armed = false; +static bool flag_system_armed = false; -pthread_t logwriter_pthread = 0; +static pthread_t logwriter_pthread = 0; /** * Log buffer writing thread. Open and close file here. @@ -172,17 +171,17 @@ static void sdlog2_status(void); /** * Start logging: create new file and start log writer thread. */ -void sdlog2_start_log(); +static void sdlog2_start_log(void); /** * Stop logging: stop log writer thread and close log file. */ -void sdlog2_stop_log(); +static void sdlog2_stop_log(void); /** * Write a header to log file: list of message formats. */ -void write_formats(int fd); +static void write_formats(int fd); static bool file_exist(const char *filename); @@ -196,12 +195,12 @@ static void handle_status(struct vehicle_status_s *cmd); /** * Create folder for current logging session. Store folder name in 'log_folder'. */ -static int create_logfolder(); +static int create_logfolder(void); /** * Select first free log file name and open it. */ -static int open_logfile(); +static int open_logfile(void); static void sdlog2_usage(const char *reason) @@ -286,22 +285,6 @@ int create_logfolder() if (mkdir_ret == 0) { /* folder does not exist, success */ - - /* copy parser script file */ - // TODO - /* - char mfile_out[100]; - sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); - int ret = file_copy(mfile_in, mfile_out); - - if (!ret) { - warnx("copied m file to %s", mfile_out); - - } else { - warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); - } - */ - break; } else if (mkdir_ret == -1) { @@ -403,6 +386,11 @@ static void *logwriter_thread(void *arg) /* only get pointer to thread-safe data, do heavy I/O a few lines down */ int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); +#ifdef SDLOG2_DEBUG + int rp = logbuf->read_ptr; + int wp = logbuf->write_ptr; +#endif + /* continue */ pthread_mutex_unlock(&logbuffer_mutex); @@ -419,7 +407,7 @@ static void *logwriter_thread(void *arg) should_wait = (n == available) && !is_part; #ifdef SDLOG2_DEBUG - printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait); + 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); #endif if (n < 0) { @@ -432,14 +420,14 @@ static void *logwriter_thread(void *arg) } } else { + n = 0; should_wait = true; } - if (poll_count % 10 == 0) { + if (++poll_count == 10) { fsync(log_file); + poll_count = 0; } - - poll_count++; } fsync(log_file); @@ -608,12 +596,9 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "can't allocate log buffer, exiting."); } - /* file descriptors to wait for */ - struct pollfd fds_control[2]; - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ /* number of messages */ - const ssize_t fdsc = 16; + const ssize_t fdsc = 17; /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -901,7 +886,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPS.epv = buf.gps_pos.epv_m; log_msg.body.log_GPS.lat = buf.gps_pos.lat; log_msg.body.log_GPS.lon = buf.gps_pos.lon; - log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001; + log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f; log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s; @@ -1087,10 +1072,13 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(AIRS); } +#ifdef SDLOG2_DEBUG + printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); +#endif /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { #ifdef SDLOG2_DEBUG - printf("signal %i", logbuffer_count(&lb)); + printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); #endif /* only request write if several packets can be written at once */ pthread_cond_signal(&logbuffer_cond);