forked from Archive/PX4-Autopilot
Merge branch 'master' into seatbelt_multirotor
This commit is contained in:
Anton Babushkin
commit
e12ae6b3ba
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@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
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} else {
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// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
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n = lb->size - lb->read_ptr;
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*is_part = true;
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*is_part = lb->write_ptr > 0;
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}
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*ptr = &(lb->data[lb->read_ptr]);
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@ -114,35 +114,34 @@ static const int MAX_WRITE_CHUNK = 512;
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static const int MIN_BYTES_TO_WRITE = 512;
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static const char *mountpoint = "/fs/microsd";
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int log_file = -1;
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int mavlink_fd = -1;
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static int mavlink_fd = -1;
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struct logbuffer_s lb;
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/* mutex / condition to synchronize threads */
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pthread_mutex_t logbuffer_mutex;
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pthread_cond_t logbuffer_cond;
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static pthread_mutex_t logbuffer_mutex;
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static pthread_cond_t logbuffer_cond;
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char folder_path[64];
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static char folder_path[64];
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/* statistics counters */
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unsigned long log_bytes_written = 0;
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uint64_t start_time = 0;
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unsigned long log_msgs_written = 0;
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unsigned long log_msgs_skipped = 0;
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static unsigned long log_bytes_written = 0;
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static uint64_t start_time = 0;
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static unsigned long log_msgs_written = 0;
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static unsigned long log_msgs_skipped = 0;
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/* current state of logging */
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bool logging_enabled = false;
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static bool logging_enabled = false;
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/* enable logging on start (-e option) */
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bool log_on_start = false;
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static bool log_on_start = false;
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/* enable logging when armed (-a option) */
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bool log_when_armed = false;
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static bool log_when_armed = false;
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/* delay = 1 / rate (rate defined by -r option) */
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useconds_t sleep_delay = 0;
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static useconds_t sleep_delay = 0;
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/* helper flag to track system state changes */
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bool flag_system_armed = false;
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static bool flag_system_armed = false;
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pthread_t logwriter_pthread = 0;
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static pthread_t logwriter_pthread = 0;
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/**
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* Log buffer writing thread. Open and close file here.
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@ -172,17 +171,17 @@ static void sdlog2_status(void);
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/**
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* Start logging: create new file and start log writer thread.
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*/
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void sdlog2_start_log();
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static void sdlog2_start_log(void);
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/**
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* Stop logging: stop log writer thread and close log file.
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*/
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void sdlog2_stop_log();
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static void sdlog2_stop_log(void);
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/**
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* Write a header to log file: list of message formats.
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*/
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void write_formats(int fd);
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static void write_formats(int fd);
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static bool file_exist(const char *filename);
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@ -196,12 +195,12 @@ static void handle_status(struct vehicle_status_s *cmd);
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/**
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* Create folder for current logging session. Store folder name in 'log_folder'.
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*/
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static int create_logfolder();
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static int create_logfolder(void);
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/**
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* Select first free log file name and open it.
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*/
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static int open_logfile();
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static int open_logfile(void);
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static void
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sdlog2_usage(const char *reason)
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@ -286,22 +285,6 @@ int create_logfolder()
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if (mkdir_ret == 0) {
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/* folder does not exist, success */
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/* copy parser script file */
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// TODO
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/*
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char mfile_out[100];
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sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
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int ret = file_copy(mfile_in, mfile_out);
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if (!ret) {
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warnx("copied m file to %s", mfile_out);
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} else {
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warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
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}
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*/
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break;
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} else if (mkdir_ret == -1) {
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@ -403,6 +386,11 @@ static void *logwriter_thread(void *arg)
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/* only get pointer to thread-safe data, do heavy I/O a few lines down */
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int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
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#ifdef SDLOG2_DEBUG
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int rp = logbuf->read_ptr;
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int wp = logbuf->write_ptr;
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#endif
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/* continue */
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pthread_mutex_unlock(&logbuffer_mutex);
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@ -419,7 +407,7 @@ static void *logwriter_thread(void *arg)
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should_wait = (n == available) && !is_part;
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#ifdef SDLOG2_DEBUG
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printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
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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);
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#endif
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if (n < 0) {
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@ -432,14 +420,14 @@ static void *logwriter_thread(void *arg)
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}
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} else {
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n = 0;
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should_wait = true;
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}
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if (poll_count % 10 == 0) {
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if (++poll_count == 10) {
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fsync(log_file);
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poll_count = 0;
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}
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poll_count++;
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}
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fsync(log_file);
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@ -899,7 +887,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
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log_msg.body.log_GPS.lat = buf.gps_pos.lat;
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log_msg.body.log_GPS.lon = buf.gps_pos.lon;
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log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001;
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log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
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log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
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log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
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log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
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@ -982,6 +970,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
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log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
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log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
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log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
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LOGBUFFER_WRITE_AND_COUNT(ATSP);
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}
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@ -1092,10 +1081,13 @@ int sdlog2_thread_main(int argc, char *argv[])
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LOGBUFFER_WRITE_AND_COUNT(AIRS);
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}
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#ifdef SDLOG2_DEBUG
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printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
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#endif
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/* signal the other thread new data, but not yet unlock */
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if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
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#ifdef SDLOG2_DEBUG
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printf("signal %i", logbuffer_count(&lb));
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printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
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#endif
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/* only request write if several packets can be written at once */
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pthread_cond_signal(&logbuffer_cond);
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@ -71,6 +71,7 @@ struct log_ATSP_s {
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float roll_sp;
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float pitch_sp;
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float yaw_sp;
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float thrust_sp;
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};
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/* --- IMU - IMU SENSORS --- */
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@ -205,7 +206,7 @@ struct log_GPOS_s {
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static const struct log_format_s log_formats[] = {
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LOG_FORMAT(TIME, "Q", "StartTime"),
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LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
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LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
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LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
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LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
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LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
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LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
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