forked from Archive/PX4-Autopilot
148 lines
3.6 KiB
C++
148 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2022 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <px4_platform_common/log_history.h>
|
|
|
|
#if defined(BOARD_ENABLE_LOG_HISTORY)
|
|
#include <string.h>
|
|
|
|
void LogHistory::print(FILE *out)
|
|
{
|
|
const int buffer_length = 512;
|
|
char buffer[buffer_length];
|
|
int offset = -1;
|
|
|
|
int total_size_read = 0;
|
|
|
|
do {
|
|
int read_size = read(buffer, buffer_length, &offset);
|
|
|
|
if (read_size <= 0) {
|
|
break;
|
|
}
|
|
|
|
fwrite(buffer, 1, read_size, out);
|
|
|
|
if (read_size < buffer_length) {
|
|
break;
|
|
}
|
|
|
|
total_size_read += read_size;
|
|
} while (total_size_read < BOARD_LOG_HISTORY_SIZE);
|
|
}
|
|
|
|
// Log a null terminated string to the circular history buffer.
|
|
void LogHistory::write(const char *buffer)
|
|
{
|
|
lock(); // same rule as for printf: this cannot be used from IRQ handlers
|
|
|
|
int i = 0;
|
|
|
|
while (buffer[i] != '\0') {
|
|
|
|
_log_history[_tail] = buffer[i++];
|
|
_tail = (_tail + 1) % BOARD_LOG_HISTORY_SIZE;
|
|
|
|
if (_tail == _head) {
|
|
_head = (_head + 1) % BOARD_LOG_HISTORY_SIZE;
|
|
}
|
|
}
|
|
|
|
unlock();
|
|
}
|
|
|
|
int LogHistory::size()
|
|
{
|
|
lock();
|
|
int size;
|
|
|
|
if (_head <= _tail) {
|
|
size = _tail - _head;
|
|
|
|
} else {
|
|
size = BOARD_LOG_HISTORY_SIZE - (_head - _tail);
|
|
}
|
|
|
|
unlock();
|
|
return size;
|
|
}
|
|
|
|
int LogHistory::read(char *buffer, int buffer_length, int *offset)
|
|
{
|
|
lock();
|
|
|
|
if (*offset == -1) {
|
|
*offset = _head;
|
|
}
|
|
|
|
int size = 0;
|
|
|
|
if (*offset < _tail) {
|
|
size = _tail - *offset;
|
|
|
|
if (size > buffer_length) {
|
|
size = buffer_length;
|
|
}
|
|
|
|
memcpy(buffer, _log_history + *offset, size);
|
|
|
|
} else if (_tail < *offset) {
|
|
size = BOARD_LOG_HISTORY_SIZE - *offset;
|
|
|
|
if (size > buffer_length) {
|
|
size = buffer_length;
|
|
}
|
|
|
|
memcpy(buffer, _log_history + *offset, size);
|
|
buffer += size;
|
|
buffer_length -= size;
|
|
|
|
int size_secondary = _tail;
|
|
|
|
if (size_secondary > buffer_length) {
|
|
size_secondary = buffer_length;
|
|
}
|
|
|
|
if (size_secondary > 0) {
|
|
memcpy(buffer, _log_history, size_secondary);
|
|
size += size_secondary;
|
|
}
|
|
}
|
|
|
|
unlock();
|
|
*offset = (*offset + size) % BOARD_LOG_HISTORY_SIZE;
|
|
return size;
|
|
}
|
|
|
|
#endif
|