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Merge branch 'master' into gpio_led_fmuv2

This commit is contained in:
Anton Babushkin 2014-03-13 00:29:14 +04:00
parent bc36b540a5 072be2c730
commit bbe9873f97
9 changed files with 714 additions and 570 deletions
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4
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004

133
Tools/fetch_log.py Normal file
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@ -0,0 +1,133 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Log fetcher
#
# Print list of logs:
# python fetch_log.py
#
# Fetch log:
# python fetch_log.py sess001/log001.bin
#
import serial, time, sys, os
def wait_for_string(ser, s, timeout=1.0, debug=False):
t0 = time.time()
buf = []
res = []
n = 0
while (True):
c = ser.read()
if debug:
sys.stderr.write(c)
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
n += 1
if n % 10000 == 0:
sys.stderr.write(str(n) + "\n")
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout)
return wait_for_string(ser, "nsh> \x1b[K", timeout)
def ls_dir(ser, dir, timeout=1.0):
res = []
for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def list_logs(ser):
logs_dir = "/fs/microsd/log"
res = []
for d in ls_dir(ser, logs_dir):
if d[2]:
sess_dir = d[0][:-1]
for f in ls_dir(ser, logs_dir + "/" + sess_dir):
log_file = f[0]
log_size = f[1]
res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
return "\n".join(res)
def fetch_log(ser, fn, timeout):
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout, True)
res = wait_for_string(ser, "\n", timeout, True)
data = []
if res.startswith("OK"):
size = int(res.split()[1])
n = 0
print "Reading data:"
while (n < size):
buf = ser.read(min(size - n, 8192))
data.append(buf)
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
print
else:
raise Exception("Error reading log")
wait_for_string(ser, "nsh> \x1b[K", timeout)
return "".join(data)
def main():
dev = "/dev/tty.usbmodem1"
ser = serial.Serial(dev, "115200", timeout=0.2)
if len(sys.argv) < 2:
print list_logs(ser)
else:
log_file = sys.argv[1]
data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
try:
os.mkdir(log_file.split("/")[0])
except:
pass
fout = open(log_file, "wb")
fout.write(data)
fout.close()
ser.close()
if __name__ == "__main__":
main()

1
makefiles/config_px4fmu-v1_default.mk
View File

@ -56,6 +56,7 @@ MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control

1
makefiles/config_px4fmu-v2_default.mk
View File

@ -63,6 +63,7 @@ MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control

3
src/modules/sdlog2/logbuffer.c
View File

@ -74,8 +74,9 @@ bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
// bytes available to write
int available = lb->read_ptr - lb->write_ptr - 1;
if (available < 0)
if (available < 0) {
available += lb->size;
}
if (size > available) {
// buffer overflow

397
src/modules/sdlog2/sdlog2.c
View File

@ -134,12 +134,6 @@ static uint64_t gps_time = 0;
/* current state of logging */
static bool logging_enabled = false;
/* enable logging on start (-e option) */
static bool log_on_start = false;
/* enable logging when armed (-a option) */
static bool log_when_armed = false;
/* delay = 1 / rate (rate defined by -r option) */
static useconds_t sleep_delay = 0;
/* use date/time for naming directories and files (-t option) */
static bool log_name_timestamp = false;
@ -159,6 +153,8 @@ static void *logwriter_thread(void *arg);
*/
__EXPORT int sdlog2_main(int argc, char *argv[]);
static bool copy_if_updated(orb_id_t topic, int handle, void *buffer);
/**
* Mainloop of sd log deamon.
*/
@ -220,8 +216,9 @@ static int open_log_file(void);
static void
sdlog2_usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
@ -241,8 +238,9 @@ sdlog2_usage(const char *reason)
*/
int sdlog2_main(int argc, char *argv[])
{
if (argc < 2)
if (argc < 2) {
sdlog2_usage("missing command");
}
if (!strcmp(argv[1], "start")) {
@ -401,22 +399,29 @@ static void *logwriter_thread(void *arg)
int log_fd = open_log_file();
if (log_fd < 0)
return;
if (log_fd < 0) {
return NULL;
}
struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
/* write log messages formats, version and parameters */
log_bytes_written += write_formats(log_fd);
log_bytes_written += write_version(log_fd);
log_bytes_written += write_parameters(log_fd);
fsync(log_fd);
int poll_count = 0;
void *read_ptr;
int n = 0;
bool should_wait = false;
bool is_part = false;
while (true) {
@ -449,7 +454,6 @@ static void *logwriter_thread(void *arg)
n = available;
}
lseek(log_fd, 0, SEEK_CUR);
n = write(log_fd, read_ptr, n);
should_wait = (n == available) && !is_part;
@ -483,7 +487,7 @@ static void *logwriter_thread(void *arg)
fsync(log_fd);
close(log_fd);
return;
return NULL;
}
void sdlog2_start_log()
@ -628,6 +632,19 @@ int write_parameters(int fd)
return written;
}
bool copy_if_updated(orb_id_t topic, int handle, void *buffer)
{
bool updated;
orb_check(handle, &updated);
if (updated) {
orb_copy(topic, handle, buffer);
}
return updated;
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@ -636,12 +653,14 @@ int sdlog2_thread_main(int argc, char *argv[])
warnx("failed to open MAVLink log stream, start mavlink app first");
}
/* log buffer size */
/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
useconds_t sleep_delay = 20000;
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
logging_enabled = false;
log_on_start = false;
log_when_armed = false;
/* enable logging on start (-e option) */
bool log_on_start = false;
/* enable logging when armed (-a option) */
bool log_when_armed = false;
log_name_timestamp = false;
flag_system_armed = false;
@ -651,17 +670,20 @@ int sdlog2_thread_main(int argc, char *argv[])
argv += 2;
int ch;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
sleep_delay = 0;
} else {
sleep_delay = 1000000 / r;
if (r <= 0) {
r = 1;
}
sleep_delay = 1000000 / r;
}
break;
@ -698,20 +720,27 @@ int sdlog2_thread_main(int argc, char *argv[])
} else {
warnx("unknown option character `\\x%x'", optopt);
}
err_flag = true;
break;
default:
sdlog2_usage("unrecognized flag");
errx(1, "exiting");
warnx("unrecognized flag");
err_flag = true;
break;
}
}
if (err_flag) {
sdlog2_usage(NULL);
}
gps_time = 0;
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret != 0 && errno != EEXIST) {
err("failed creating log root dir: %s", log_root);
err(1, "failed creating log root dir: %s", log_root);
}
/* copy conversion scripts */
@ -734,8 +763,12 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_status_s buf_status;
struct vehicle_gps_position_s buf_gps_pos;
memset(&buf_status, 0, sizeof(buf_status));
memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
/* warning! using union here to save memory, elements should be used separately! */
union {
struct vehicle_command_s cmd;
@ -749,7 +782,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
@ -763,30 +795,6 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
} subs;
/* log message buffer: header + body */
#pragma pack(push, 1)
struct {
@ -821,154 +829,51 @@ int sdlog2_thread_main(int argc, char *argv[])
#pragma pack(pop)
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
} subs;
/* --- VEHICLE COMMAND --- */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VEHICLE STATUS --- */
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
fds[fdsc_count].fd = subs.status_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS COMBINED --- */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE --- */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT --- */
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.att_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RATES SETPOINT --- */
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
fds[fdsc_count].fd = subs.rates_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL --- */
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.act_controls_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION SETPOINT --- */
subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
fds[fdsc_count].fd = subs.local_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
fds[fdsc_count].fd = subs.triplet_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- OPTICAL FLOW --- */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RC CHANNELS --- */
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
fds[fdsc_count].fd = subs.rc_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ESCs --- */
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
fds[fdsc_count].fd = subs.esc_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL VELOCITY SETPOINT --- */
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
fds[fdsc_count].fd = subs.global_vel_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY --- */
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.battery_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- TELEMETRY STATUS --- */
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
fds[fdsc_count].fd = subs.telemetry_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms
*/
const int poll_timeout = 1000;
thread_running = true;
@ -990,8 +895,8 @@ int sdlog2_thread_main(int argc, char *argv[])
if (log_on_start) {
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) {
gps_time = buf.gps_pos.time_gps_usec;
if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_gps_usec;
}
}
@ -999,61 +904,33 @@ int sdlog2_thread_main(int argc, char *argv[])
}
while (!main_thread_should_exit) {
/* decide use usleep() or blocking poll() */
bool use_sleep = sleep_delay > 0 && logging_enabled;
/* poll all topics if logging enabled or only management (first 3) if not */
int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout);
/* handle the poll result */
if (poll_ret < 0) {
warnx("ERROR: poll error, stop logging");
main_thread_should_exit = true;
} else if (poll_ret > 0) {
/* check all data subscriptions only if logging enabled,
* logging_enabled can be changed while checking vehicle_command and vehicle_status */
bool check_data = logging_enabled;
int ifds = 0;
int handled_topics = 0;
usleep(sleep_delay);
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
handle_command(&buf.cmd);
handled_topics++;
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (status_updated) {
if (log_when_armed) {
handle_status(&buf_status);
}
handled_topics++;
}
/* --- GPS POSITION - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
if (log_name_timestamp) {
gps_time = buf.gps_pos.time_gps_usec;
if (gps_pos_updated && log_name_timestamp) {
gps_time = buf_gps_pos.time_gps_usec;
}
handled_topics++;
}
if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
if (!logging_enabled) {
continue;
}
ifds = 1; // begin from VEHICLE STATUS again
pthread_mutex_lock(&logbuffer_mutex);
/* write time stamp message */
@ -1062,8 +939,7 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(TIME);
/* --- VEHICLE STATUS --- */
if (fds[ifds++].revents & POLLIN) {
/* don't orb_copy, it's already done few lines above */
if (status_updated) {
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
@ -1074,26 +950,24 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
/* don't orb_copy, it's already done few lines above */
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf.gps_pos.eph_m;
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 * 0.001f;
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;
log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
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 * 0.001f;
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;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
}
/* --- SENSOR COMBINED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
bool write_IMU = false;
bool write_SENS = false;
@ -1147,8 +1021,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ATTITUDE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
@ -1163,8 +1036,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ATTITUDE SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp);
if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) {
log_msg.msg_type = LOG_ATSP_MSG;
log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
@ -1174,8 +1046,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- RATES SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) {
log_msg.msg_type = LOG_ARSP_MSG;
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
@ -1184,16 +1055,14 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) {
log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
}
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls);
if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) {
log_msg.msg_type = LOG_ATTC_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
@ -1203,8 +1072,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) {
log_msg.msg_type = LOG_LPOS_MSG;
log_msg.body.log_LPOS.x = buf.local_pos.x;
log_msg.body.log_LPOS.y = buf.local_pos.y;
@ -1223,6 +1091,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (buf.local_pos.dist_bottom_valid) {
dist_bottom_present = true;
}
if (dist_bottom_present) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
@ -1233,8 +1102,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- LOCAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp);
if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
log_msg.msg_type = LOG_LPSP_MSG;
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
@ -1244,8 +1112,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) {
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
@ -1259,8 +1126,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet);
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
@ -1275,14 +1141,12 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
// TODO not implemented yet
}
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
@ -1295,8 +1159,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- RC CHANNELS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
@ -1305,8 +1168,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) {
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
@ -1314,9 +1176,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ESCs --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc);
if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) {
for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
log_msg.msg_type = LOG_ESC_MSG;
log_msg.body.log_ESC.counter = buf.esc.counter;
@ -1336,8 +1196,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL VELOCITY SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp);
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) {
log_msg.msg_type = LOG_GVSP_MSG;
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
@ -1346,8 +1205,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- BATTERY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) {
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
@ -1357,8 +1215,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry);
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG;
log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
@ -1380,13 +1237,9 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_mutex_unlock(&logbuffer_mutex);
}
if (use_sleep) {
usleep(sleep_delay);
}
}
if (logging_enabled)
if (logging_enabled) {
sdlog2_stop_log();
}
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
@ -1461,8 +1314,6 @@ int file_copy(const char *file_old, const char *file_new)
void handle_command(struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
int param;
/* request to set different system mode */

116
src/systemcmds/dumpfile/dumpfile.c Normal file
View File

@ -0,0 +1,116 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file dumpfile.c
*
* Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <fcntl.h>
#include <termios.h>
#include <systemlib/err.h>
__EXPORT int dumpfile_main(int argc, char *argv[]);
int
dumpfile_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "usage: dumpfile <filename>");
}
/* open input file */
FILE *f;
f = fopen(argv[1], "r");
if (f == NULL) {
printf("ERROR\n");
exit(1);
}
/* get file size */
fseek(f, 0L, SEEK_END);
int size = ftell(f);
fseek(f, 0L, SEEK_SET);
printf("OK %d\n", size);
/* configure stdout */
int out = fileno(stdout);
struct termios tc;
struct termios tc_old;
tcgetattr(out, &tc);
/* save old terminal attributes to restore it later on exit */
memcpy(&tc_old, &tc, sizeof(tc));
/* don't add CR on each LF*/
tc.c_oflag &= ~ONLCR;
if (tcsetattr(out, TCSANOW, &tc) < 0) {
warnx("ERROR setting stdout attributes");
exit(1);
}
char buf[512];
int nread;
/* dump file */
while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) {
if (write(out, buf, nread) <= 0) {
warnx("error dumping file");
break;
}
}
fsync(out);
fclose(f);
/* restore old terminal attributes */
if (tcsetattr(out, TCSANOW, &tc_old) < 0) {
warnx("ERROR restoring stdout attributes");
exit(1);
}
return OK;
}

41
src/systemcmds/dumpfile/module.mk Normal file
View File

@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Dump file utility
#
MODULE_COMMAND = dumpfile
SRCS = dumpfile.c
MAXOPTIMIZATION = -Os