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Fixed a number of smaller issues with log changes, ready to merge

This commit is contained in:
Lorenz Meier 2013-01-19 16:59:56 +01:00
parent 5fe1a12612
commit d637842825
1 changed files with 27 additions and 12 deletions
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39
apps/sdlog/sdlog.c
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@ -51,6 +51,7 @@
#include <poll.h> #include <poll.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <ctype.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <unistd.h> #include <unistd.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@ -180,7 +181,7 @@ int sdlog_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT - 30, SCHED_PRIORITY_DEFAULT - 30,
4096, 4096,
sdlog_thread_main, sdlog_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL); (const char **)argv);
exit(0); exit(0);
} }
@ -332,15 +333,15 @@ int sdlog_thread_main(int argc, char *argv[])
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
} }
/* log every n'th value (skip one per default) */ /* log every n'th value (skip three per default) */
int skip_value = 1; int skip_value = 3;
/* work around some stupidity in task_create's argv handling */ /* work around some stupidity in task_create's argv handling */
argc -= 2; argc -= 2;
argv += 2; argv += 2;
int ch; int ch;
while ((ch = getopt(argc, argv, "sr")) != EOF) { while ((ch = getopt(argc, argv, "s:r")) != EOF) {
switch (ch) { switch (ch) {
case 's': case 's':
{ {
@ -360,8 +361,18 @@ int sdlog_thread_main(int argc, char *argv[])
logging_enabled = false; logging_enabled = false;
break; break;
case '?':
if (optopt == 'c') {
warnx("Option -%c requires an argument.\n", optopt);
} else if (isprint(optopt)) {
warnx("Unknown option `-%c'.\n", optopt);
} else {
warnx("Unknown option character `\\x%x'.\n", optopt);
}
default: default:
usage("unrecognized flag"); usage("unrecognized flag");
errx(1, "exiting.");
} }
} }
@ -454,7 +465,7 @@ int sdlog_thread_main(int argc, char *argv[])
} subs; } subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */ /* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for sensors raw */ /* subscribe to ORB for vehicle command */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub; fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN; fds[fdsc_count].events = POLLIN;
@ -586,10 +597,8 @@ int sdlog_thread_main(int argc, char *argv[])
while (!thread_should_exit) { while (!thread_should_exit) {
// XXX only use gyro for now /* only poll for commands, gps and sensor_combined */
int poll_ret = poll(fds, 2, 1000); int poll_ret = poll(fds, 3, 1000);
// int poll_ret = poll(fds, fdsc_count, timeout);
/* handle the poll result */ /* handle the poll result */
if (poll_ret == 0) { if (poll_ret == 0) {
@ -598,7 +607,7 @@ int sdlog_thread_main(int argc, char *argv[])
/* XXX this is seriously bad - should be an emergency */ /* XXX this is seriously bad - should be an emergency */
} else { } else {
int ifds; int ifds = 0;
/* --- VEHICLE COMMAND VALUE --- */ /* --- VEHICLE COMMAND VALUE --- */
if (fds[ifds++].revents & POLLIN) { if (fds[ifds++].revents & POLLIN) {
@ -691,7 +700,7 @@ int sdlog_thread_main(int argc, char *argv[])
pthread_mutex_lock(&sysvector_mutex); pthread_mutex_lock(&sysvector_mutex);
sdlog_logbuffer_write(&lb, &sysvect); sdlog_logbuffer_write(&lb, &sysvect);
/* signal the other thread new data, but not yet unlock */ /* signal the other thread new data, but not yet unlock */
if ((unsigned)lb.count > lb.size / 3) { if ((unsigned)lb.count > (lb.size / 2)) {
/* only request write if several packets can be written at once */ /* only request write if several packets can be written at once */
pthread_cond_signal(&sysvector_cond); pthread_cond_signal(&sysvector_cond);
} }
@ -705,13 +714,19 @@ int sdlog_thread_main(int argc, char *argv[])
print_sdlog_status(); print_sdlog_status();
/* wake up write thread one last time */
pthread_mutex_lock(&sysvector_mutex);
pthread_cond_signal(&sysvector_cond);
/* unlock, now the writer thread may return */
pthread_mutex_unlock(&sysvector_mutex);
/* wait for write thread to return */ /* wait for write thread to return */
(void)pthread_join(sysvector_pthread, NULL); (void)pthread_join(sysvector_pthread, NULL);
pthread_mutex_destroy(&sysvector_mutex); pthread_mutex_destroy(&sysvector_mutex);
pthread_cond_destroy(&sysvector_cond); pthread_cond_destroy(&sysvector_cond);
warnx("exiting.\n"); warnx("exiting.\n\n");
/* finish KML file */ /* finish KML file */
// XXX // XXX