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px4-firmware/apps/sdlog/sdlog.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 sdlog.c
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Simple SD logger for flight data
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <stdlib.h>
#include <string.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/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 <systemlib/systemlib.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 char *mountpoint = "/fs/microsd";
static const char *mfile_in = "/etc/logging/logconv.m";
/**
* SD log management function.
*/
__EXPORT int sdlog_main(int argc, char *argv[]);
/**
* Mainloop of sd log deamon.
*/
int sdlog_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);
/**
* Print the current status.
*/
static void print_sdlog_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: sdlog {start|stop|status} [-p <additional params>]\n\n");
}
// XXX turn this into a C++ class
unsigned sensor_combined_bytes = 0;
unsigned actuator_outputs_bytes = 0;
unsigned actuator_controls_bytes = 0;
unsigned sysvector_bytes = 0;
unsigned blackbox_file_bytes = 0;
uint64_t starttime = 0;
/**
* 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 sdlog_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("sdlog already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("sdlog",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
4096,
sdlog_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog is not started\n");
}
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
print_sdlog_status();
} else {
printf("\tsdlog 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 */
/* now copy the Matlab/Octave file */
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;
}
int sdlog_thread_main(int argc, char *argv[]) {
warnx("starting\n");
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.");
/* create sensorfile */
int sensorfile = -1;
int actuator_outputs_file = -1;
int actuator_controls_file = -1;
int sysvector_file = -1;
FILE *gpsfile;
FILE *blackbox_file;
// FILE *vehiclefile;
char path_buf[64] = ""; // string to hold the path to the sensorfile
warnx("logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
// /* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
// sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
// if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
// errx(1, "opening %s failed.\n", path_buf);
// }
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
if (0 == (actuator_controls_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
if (NULL == (gpsfile = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int gpsfile_no = fileno(gpsfile);
/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int blackbox_file_no = fileno(blackbox_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];
struct {
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 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;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int spa_sub;
int act_0_sub;
int controls0_sub;
int local_pos_sub;
int global_pos_sub;
int gps_pos_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for sensors raw */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_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;
/* rate-limit raw data updates to 200Hz */
orb_set_interval(subs.sensor_sub, 5);
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.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.spa_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.controls0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls0_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++;
/* --- 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++;
/* 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;
int poll_count = 0;
starttime = hrt_absolute_time();
while (!thread_should_exit) {
// int poll_ret = poll(fds, fdsc_count, timeout);
// /* 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 (poll_count % 5000 == 0) {
// fsync(sensorfile);
// fsync(actuator_outputs_file);
// fsync(actuator_controls_file);
// fsync(blackbox_file_no);
// }
// /* --- VEHICLE COMMAND VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy command into local buffer */
// orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
// blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
// buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
// (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
// }
// /* --- SENSORS RAW VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy sensors raw data into local buffer */
// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
// /* write out */
// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
// }
// /* --- ATTITUDE VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy attitude data into local buffer */
// orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
// }
// /* --- VEHICLE ATTITUDE SETPOINT --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy local position data into local buffer */
// orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
// }
// /* --- ACTUATOR OUTPUTS 0 --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy actuator data into local buffer */
// orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
// /* write out */
// // actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
// }
// /* --- ACTUATOR CONTROL --- */
// if (fds[ifds++].revents & POLLIN) {
// orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
// /* write out */
// actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
// }
// }
if (poll_count % 100 == 0) {
fsync(sysvector_file);
}
poll_count++;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
#pragma pack(push, 1)
struct {
uint64_t timestamp; //[us]
float gyro[3]; //[rad/s]
float accel[3]; //[m/s^2]
float mag[3]; //[gauss]
float baro; //pressure [millibar]
float baro_alt; //altitude above MSL [meter]
float baro_temp; //[degree celcius]
float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
float vbat; //battery voltage in [volt]
float adc[3]; //remaining auxiliary ADC ports [volt]
float local_position[3]; //tangent plane mapping into x,y,z [m]
int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
float attitude[3]; //pitch, roll, yaw [rad]
float rotMatrix[9]; //unitvectors
} sysvector = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
.baro = buf.raw.baro_pres_mbar,
.baro_alt = buf.raw.baro_alt_meter,
.baro_temp = buf.raw.baro_temp_celcius,
.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
.vbat = buf.raw.battery_voltage_v,
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}
};
#pragma pack(pop)
sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
usleep(10000); //10000 corresponds in reality to ca. 76 Hz
}
fsync(sysvector_file);
print_sdlog_status();
warnx("exiting.\n");
close(sensorfile);
close(actuator_outputs_file);
close(actuator_controls_file);
fclose(gpsfile);
fclose(blackbox_file);
thread_running = false;
return 0;
}
void print_sdlog_status()
{
unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
float mebibytes = bytes / 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) {
int 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;
}
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