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sdlog2 logger app added. New flexible log format, compatible with APM.

This commit is contained in:
Anton Babushkin 2013-05-25 22:15:56 +04:00
parent bc7a7167ae
commit e211352604
7 changed files with 1323 additions and 0 deletions
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1
makefiles/config_px4fmu_default.mk
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@ -78,6 +78,7 @@ MODULES += modules/multirotor_pos_control
# Logging
#
MODULES += modules/sdlog
MODULES += modules/sdlog2
#
# Library modules

43
src/modules/sdlog2/module.mk Normal file
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@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
#
# sdlog2 Application
#
MODULE_COMMAND = sdlog2
# The main thread only buffers to RAM, needs a high priority
MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
SRCS = sdlog2.c \
sdlog2_ringbuffer.c

890
src/modules/sdlog2/sdlog2.c Normal file
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@ -0,0 +1,890 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <rk3dov@gmail.com>
*
* 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 sdlog2.c
*
* Simple SD logger for flight data. Buffers new sensor values and
* does the heavy SD I/O in a low-priority worker thread.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <rk3dov@gmail.com>
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/prctl.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <systemlib/systemlib.h>
#include <mavlink/mavlink_log.h>
#include "sdlog2_ringbuffer.h"
#include "sdlog2_messages.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
static const int LOG_BUFFER_SIZE = 2048;
static const int MAX_WRITE_CHUNK = 1024;
static const char *mountpoint = "/fs/microsd";
int log_file = -1;
int mavlink_fd = -1;
struct sdlog2_logbuffer lb;
/* mutex / condition to synchronize threads */
pthread_mutex_t logbuffer_mutex;
pthread_cond_t logbuffer_cond;
/**
* System state vector log buffer writing
*/
static void *sdlog2_logbuffer_write_thread(void *arg);
/**
* Create the thread to write the system vector
*/
pthread_t sdlog2_logwriter_start(struct sdlog2_logbuffer *logbuf);
/**
* Write a header to log file: list of message formats
*/
void sdlog2_write_formats(int fd);
/**
* SD log management function.
*/
__EXPORT int sdlog2_main(int argc, char *argv[]);
/**
* Mainloop of sd log deamon.
*/
int sdlog2_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static int file_exist(const char *filename);
static int file_copy(const char *file_old, const char *file_new);
static void handle_command(struct vehicle_command_s *cmd);
/**
* Print the current status.
*/
static void print_sdlog2_status(void);
/**
* Create folder for current logging session.
*/
static int create_logfolder(char *folder_path);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
errx(1, "usage: sdlog2 {start|stop|status} [-s <number of skipped lines>]\n\n");
}
unsigned long log_bytes_written = 0;
uint64_t starttime = 0;
/* logging on or off, default to true */
bool logging_enabled = true;
/**
* The sd log deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn().
*/
int sdlog2_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("sdlog2 already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("sdlog2",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
4096,
sdlog2_thread_main,
(const char **)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog2 is not started\n");
}
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
print_sdlog2_status();
} else {
printf("\tsdlog2 not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int create_logfolder(char *folder_path)
{
/* make folder on sdcard */
uint16_t foldernumber = 1; // start with folder 0001
int mkdir_ret;
/* look for the next folder that does not exist */
while (foldernumber < MAX_NO_LOGFOLDER) {
/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
/* the result is -1 if the folder exists */
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) {
/* folder exists already */
foldernumber++;
continue;
} else {
warn("failed creating new folder");
return -1;
}
}
if (foldernumber >= MAX_NO_LOGFOLDER) {
/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
return -1;
}
return 0;
}
static void *
sdlog2_logbuffer_write_thread(void *arg)
{
/* set name */
prctl(PR_SET_NAME, "sdlog2 microSD I/O", 0);
struct sdlog2_logbuffer *logbuf = (struct sdlog2_logbuffer *)arg;
int poll_count = 0;
void *read_ptr;
int n = 0;
while (!thread_should_exit) {
/* make sure threads are synchronized */
pthread_mutex_lock(&logbuffer_mutex);
/* update read pointer if needed */
if (n > 0) {
sdlog2_logbuffer_mark_read(&lb, n);
}
/* only wait if no data is available to process */
if (sdlog2_logbuffer_is_empty(logbuf)) {
/* blocking wait for new data at this line */
pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
}
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
n = sdlog2_logbuffer_get_ptr(logbuf, &read_ptr);
/* continue */
pthread_mutex_unlock(&logbuffer_mutex);
if (n > 0) {
/* do heavy IO here */
if (n > MAX_WRITE_CHUNK)
n = MAX_WRITE_CHUNK;
n = write(log_file, read_ptr, n);
if (n > 0) {
log_bytes_written += n;
}
}
if (poll_count % 100 == 0) {
fsync(log_file);
}
poll_count++;
}
fsync(log_file);
return OK;
}
pthread_t sdlog2_logwriter_start(struct sdlog2_logbuffer *logbuf)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
/* low priority, as this is expensive disk I/O */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, sdlog2_logbuffer_write_thread, logbuf);
return thread;
// XXX we have to destroy the attr at some point
}
void sdlog2_write_formats(int fd)
{
/* construct message format packet */
struct {
LOG_PACKET_HEADER;
struct log_format_s body;
} log_format_packet = {
LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
};
/* fill message format packet for each format and write to log */
int i;
for (i = 0; i < log_formats_num; i++) {
log_format_packet.body = log_formats[i];
write(fd, &log_format_packet, sizeof(log_format_packet));
}
fsync(fd);
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
}
/* log every n'th value (skip three per default) */
int skip_value = 3;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "s:r")) != EOF) {
switch (ch) {
case 's': {
/* log only every n'th (gyro clocked) value */
unsigned s = strtoul(optarg, NULL, 10);
if (s < 1 || s > 250) {
errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
} else {
skip_value = s;
}
}
break;
case 'r':
/* log only on request, disable logging per default */
logging_enabled = false;
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:
usage("unrecognized flag");
errx(1, "exiting.");
}
}
if (file_exist(mountpoint) != OK) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
}
char folder_path[64];
if (create_logfolder(folder_path))
errx(1, "unable to create logging folder, exiting.");
/* string to hold the path to the sensorfile */
char path_buf[64] = "";
/* only print logging path, important to find log file later */
warnx("logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "log");
if (0 == (log_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* write log messages formats */
sdlog2_write_formats(log_file);
/* --- 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];
/* warning! using union here to save memory, elements should be used separately! */
union {
struct sensor_combined_s raw;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_command_s cmd;
struct vehicle_local_position_s local_pos;
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct battery_status_s batt;
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int act_0_sub;
int controls_0_sub;
int controls_effective_0_sub;
int local_pos_sub;
int global_pos_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int batt_sub;
int diff_pres_sub;
int airspeed_sub;
} subs;
/* log message buffer: header + body */
struct {
LOG_PACKET_HEADER;
union {
struct log_TS_s log_TS;
struct log_ATT_s log_ATT;
struct log_RAW_s log_RAW;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
};
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for 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++;
/* --- GPS POSITION --- */
/* subscribe to ORB for global 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 RAW VALUE --- */
/* subscribe to ORB for sensors raw */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
/* do not rate limit, instead use skip counter (aliasing on rate limit) */
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for 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 VALUE --- */
/* subscribe to ORB for attitude setpoint */
/* struct already allocated */
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++;
/** --- ACTUATOR OUTPUTS --- */
subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
fds[fdsc_count].fd = subs.act_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.controls_effective_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
/* subscribe to ORB for 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++;
/* --- GLOBAL POSITION --- */
/* subscribe to ORB for 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++;
/* --- VICON POSITION --- */
/* subscribe to ORB for 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++;
/* --- FLOW measurements --- */
/* subscribe to ORB for flow measurements */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY STATUS --- */
/* subscribe to ORB for flow measurements */
subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.batt_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- DIFFERENTIAL PRESSURE --- */
/* subscribe to ORB for flow measurements */
subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
fds[fdsc_count].fd = subs.diff_pres_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
/* subscribe to ORB for airspeed */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_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.\n", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
// const int timeout = 1000;
thread_running = true;
/* initialize log buffer with specified size */
sdlog2_logbuffer_init(&lb, LOG_BUFFER_SIZE);
/* initialize thread synchronization */
pthread_mutex_init(&logbuffer_mutex, NULL);
pthread_cond_init(&logbuffer_cond, NULL);
/* start logbuffer emptying thread */
pthread_t logwriter_pthread = sdlog2_logwriter_start(&lb);
starttime = hrt_absolute_time();
/* track skipping */
int skip_count = 0;
while (!thread_should_exit) {
/* poll all topics */
int poll_ret = poll(fds, 4, 1000);
/* handle the poll result */
if (poll_ret == 0) {
/* XXX this means none of our providers is giving us data - might be an error? */
} else if (poll_ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else {
int ifds = 0;
if (!logging_enabled) {
usleep(100000);
continue;
}
pthread_mutex_lock(&logbuffer_mutex);
/* write time stamp message */
log_msg.msg_type = LOG_TS_MSG;
log_msg.body.log_TS.t = hrt_absolute_time();
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(TS));
/* --- VEHICLE COMMAND VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy command into local buffer */
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
handle_command(&buf.cmd);
}
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
}
/* --- SENSORS RAW VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
log_msg.msg_type = LOG_RAW_MSG;
log_msg.body.log_RAW.accX = buf.raw.accelerometer_m_s2[0];
log_msg.body.log_RAW.accY = buf.raw.accelerometer_m_s2[1];
log_msg.body.log_RAW.accZ = buf.raw.accelerometer_m_s2[2];
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(RAW));
}
/* --- ATTITUDE VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(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;
log_msg.body.log_ATT.yaw = buf.att.yaw;
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(ATT));
}
/* --- ATTITUDE SETPOINT VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp);
// TODO not implemented yet
}
/* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- ACTUATOR CONTROL VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- FLOW measurements --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- BATTERY STATUS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- DIFFERENTIAL PRESSURE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
}
/* signal the other thread new data, but not yet unlock */
if (sdlog2_logbuffer_count(&lb) > (lb.size / 2)) {
/* only request write if several packets can be written at once */
pthread_cond_signal(&logbuffer_cond);
}
/* unlock, now the writer thread may run */
pthread_mutex_unlock(&logbuffer_mutex);
}
}
print_sdlog2_status();
/* wake up write thread one last time */
pthread_mutex_lock(&logbuffer_mutex);
pthread_cond_signal(&logbuffer_cond);
/* unlock, now the writer thread may return */
pthread_mutex_unlock(&logbuffer_mutex);
/* wait for write thread to return */
(void)pthread_join(logwriter_pthread, NULL);
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
warnx("exiting.\n\n");
thread_running = false;
return 0;
}
void print_sdlog2_status()
{
float mebibytes = log_bytes_written / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
}
/**
* @return 0 if file exists
*/
int file_exist(const char *filename)
{
struct stat buffer;
return stat(filename, &buffer);
}
int file_copy(const char *file_old, const char *file_new)
{
FILE *source, *target;
source = fopen(file_old, "r");
int ret = 0;
if (source == NULL) {
warnx("failed opening input file to copy");
return 1;
}
target = fopen(file_new, "w");
if (target == NULL) {
fclose(source);
warnx("failed to open output file to copy");
return 1;
}
char buf[128];
int nread;
while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
ret = fwrite(buf, 1, nread, target);
if (ret <= 0) {
warnx("error writing file");
ret = 1;
break;
}
}
fsync(fileno(target));
fclose(source);
fclose(target);
return ret;
}
void handle_command(struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_PREFLIGHT_STORAGE:
if (((int)(cmd->param3)) == 1) {
/* enable logging */
mavlink_log_info(mavlink_fd, "[log] file:");
mavlink_log_info(mavlink_fd, "logdir");
logging_enabled = true;
}
if (((int)(cmd->param3)) == 0) {
/* disable logging */
mavlink_log_info(mavlink_fd, "[log] stopped.");
logging_enabled = false;
}
break;
default:
/* silently ignore */
break;
}
}

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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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 sdlog2_format.h
*
* General log format structures and macro.
*
* @author Anton Babushkin <rk3dov@gmail.com>
*/
/*
Format characters in the format string for binary log messages
b : int8_t
B : uint8_t
h : int16_t
H : uint16_t
i : int32_t
I : uint32_t
f : float
n : char[4]
N : char[16]
Z : char[64]
c : int16_t * 100
C : uint16_t * 100
e : int32_t * 100
E : uint32_t * 100
L : int32_t latitude/longitude
M : uint8_t flight mode
q : int64_t
Q : uint64_t
*/
#ifndef SDLOG2_FORMAT_H_
#define SDLOG2_FORMAT_H_
#define LOG_PACKET_HEADER_LEN 3
#define LOG_PACKET_HEADER uint8_t head1, head2, msg_type;
#define LOG_PACKET_HEADER_INIT(id) .head1 = HEAD_BYTE1, .head2 = HEAD_BYTE2, .msg_type = id
// once the logging code is all converted we will remove these from
// this header
#define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149
struct log_format_s {
uint8_t type;
uint8_t length;
char name[4];
char format[16];
char labels[64];
};
#define LOG_FORMAT(_name, _format, _labels) { \
.type = LOG_##_name##_MSG, \
.length = sizeof(struct log_##_name##_s) + 8, \
.name = #_name, \
.format = _format, \
.labels = _labels \
}
#define LOG_FORMAT_MSG 128
#define LOG_PACKET_SIZE(_name) LOG_PACKET_HEADER_LEN + sizeof(log_msg.body.log_##_name)
#endif /* SDLOG2_FORMAT_H_ */

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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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 sdlog2_messages.h
*
* Log messages and structures definition.
*
* @author Anton Babushkin <rk3dov@gmail.com>
*/
#ifndef SDLOG2_MESSAGES_H_
#define SDLOG2_MESSAGES_H_
#include "sdlog2_format.h"
/* define message formats */
/* === 1: TS - TIME STAMP === */
#define LOG_TS_MSG 1
struct log_TS_s {
uint64_t t;
};
/* === 2: ATT - ATTITUDE === */
#define LOG_ATT_MSG 2
struct log_ATT_s {
float roll;
float pitch;
float yaw;
};
/* === 3: RAW - SENSORS === */
#define LOG_RAW_MSG 3
struct log_RAW_s {
float accX;
float accY;
float accZ;
};
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
LOG_FORMAT(TS, "Q", "t"),
LOG_FORMAT(ATT, "fff", "roll,pitch,yaw"),
LOG_FORMAT(RAW, "fff", "accX,accY,accZ"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
#endif /* SDLOG2_MESSAGES_H_ */

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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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 sdlog2_ringbuffer.c
*
* Ring FIFO buffer for binary data.
*
* @author Anton Babushkin <rk3dov@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include "sdlog2_ringbuffer.h"
void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size)
{
lb->size = size;
lb->write_ptr = 0;
lb->read_ptr = 0;
lb->data = malloc(lb->size);
}
int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb)
{
int n = lb->read_ptr - lb->write_ptr - 1;
if (n < 0) {
n += lb->size;
}
return n;
}
int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb)
{
int n = lb->write_ptr - lb->read_ptr;
if (n < 0) {
n += lb->size;
}
return n;
}
int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb)
{
return lb->read_ptr == lb->write_ptr;
}
void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size)
{
// bytes available to write
int available = lb->read_ptr - lb->write_ptr - 1;
if (available < 0)
available += lb->size;
if (size > available) {
// buffer overflow
return;
}
char *c = (char *) ptr;
int n = lb->size - lb->write_ptr; // bytes to end of the buffer
if (n < size) {
// message goes over end of the buffer
memcpy(&(lb->data[lb->write_ptr]), c, n);
lb->write_ptr = 0;
} else {
n = 0;
}
// now: n = bytes already written
int p = size - n; // number of bytes to write
memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
lb->write_ptr = (lb->write_ptr + p) % lb->size;
}
int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr)
{
// bytes available to read
int available = lb->write_ptr - lb->read_ptr;
if (available == 0) {
return 0; // buffer is empty
}
int n = 0;
if (available > 0) {
// read pointer is before write pointer, write all available bytes
n = available;
} else {
// read pointer is after write pointer, write bytes from read_ptr to end
n = lb->size - lb->read_ptr;
}
*ptr = &(lb->data[lb->read_ptr]);
return n;
}
void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n)
{
lb->read_ptr = (lb->read_ptr + n) % lb->size;
}

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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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 sdlog2_ringbuffer.h
*
* Ring FIFO buffer for binary data.
*
* @author Anton Babushkin <rk3dov@gmail.com>
*/
#ifndef SDLOG2_RINGBUFFER_H_
#define SDLOG2_RINGBUFFER_H_
struct sdlog2_logbuffer {
// all pointers are in bytes
int write_ptr;
int read_ptr;
int size;
char *data;
};
void sdlog2_logbuffer_init(struct sdlog2_logbuffer *lb, int size);
int sdlog2_logbuffer_free(struct sdlog2_logbuffer *lb);
int sdlog2_logbuffer_count(struct sdlog2_logbuffer *lb);
int sdlog2_logbuffer_is_empty(struct sdlog2_logbuffer *lb);
void sdlog2_logbuffer_write(struct sdlog2_logbuffer *lb, void *ptr, int size);
int sdlog2_logbuffer_get_ptr(struct sdlog2_logbuffer *lb, void **ptr);
void sdlog2_logbuffer_mark_read(struct sdlog2_logbuffer *lb, int n);
#endif