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px4-firmware
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Critical bug fixed, cleanup

This commit is contained in:
Anton Babushkin 2013-06-17 16:06:35 +04:00
parent d9f30858c8
commit a11895ac43
2 changed files with 35 additions and 47 deletions
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2
src/modules/sdlog2/logbuffer.c
View File

@ -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]);

80
src/modules/sdlog2/sdlog2.c
View File

@ -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);