/**************************************************************************** * * Copyright (c) 2012-2015 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. * ****************************************************************************/ /** * @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 * @author Anton Babushkin * @author Ban Siesta */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "logbuffer.h" #include "sdlog2_format.h" #include "sdlog2_messages.h" #define PX4_EPOCH_SECS 1234567890ULL /** * Logging rate. * * A value of -1 indicates the commandline argument * should be obeyed. A value of 0 sets the minimum rate, * any other value is interpreted as rate in Hertz. This * parameter is only read out before logging starts (which * commonly is before arming). * * @min -1 * @max 1 * @group SD Logging */ PARAM_DEFINE_INT32(SDLOG_RATE, -1); /** * Enable extended logging mode. * * A value of -1 indicates the commandline argument * should be obeyed. A value of 0 disables extended * logging mode, a value of 1 enables it. This * parameter is only read out before logging starts * (which commonly is before arming). * * @min -1 * @max 1 * @group SD Logging */ PARAM_DEFINE_INT32(SDLOG_EXT, -1); #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ } else { \ log_msgs_skipped++; \ } #define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) static bool main_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 bool logwriter_should_exit = false; /**< Logwriter thread exit flag */ static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */ static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */ static const int LOG_BUFFER_SIZE_DEFAULT = 8192; static const int MAX_WRITE_CHUNK = 512; static const int MIN_BYTES_TO_WRITE = 512; static bool _extended_logging = false; #define MOUNTPOINT "/fs/microsd" static const char *mountpoint = MOUNTPOINT; static const char *log_root = MOUNTPOINT "/log"; static int mavlink_fd = -1; struct logbuffer_s lb; /* mutex / condition to synchronize threads */ static pthread_mutex_t logbuffer_mutex; static pthread_cond_t logbuffer_cond; static char log_dir[32]; /* statistics counters */ static uint64_t start_time = 0; static unsigned long log_bytes_written = 0; static unsigned long last_checked_bytes_written = 0; static unsigned long log_msgs_written = 0; static unsigned long log_msgs_skipped = 0; /* GPS time, used for log files naming */ static uint64_t gps_time = 0; /* current state of logging */ static bool logging_enabled = false; /* use date/time for naming directories and files (-t option) */ static bool log_name_timestamp = false; /* helper flag to track system state changes */ static bool flag_system_armed = false; /* flag if warning about MicroSD card being almost full has already been sent */ static bool space_warning_sent = false; static pthread_t logwriter_pthread = 0; static pthread_attr_t logwriter_attr; static perf_counter_t perf_write; /** * Log buffer writing thread. Open and close file here. */ static void *logwriter_thread(void *arg); /** * SD log management function. */ __EXPORT int sdlog2_main(int argc, char *argv[]); static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer); /** * Mainloop of sd log deamon. */ int sdlog2_thread_main(int argc, char *argv[]); /** * Print the correct usage. */ static void sdlog2_usage(const char *reason); /** * Print the current status. */ static void sdlog2_status(void); /** * Start logging: create new file and start log writer thread. */ static void sdlog2_start_log(void); /** * Stop logging: stop log writer thread and close log file. */ static void sdlog2_stop_log(void); /** * Write a header to log file: list of message formats. */ static int write_formats(int fd); /** * Write version message to log file. */ static int write_version(int fd); /** * Write parameters to log file. */ static int write_parameters(int fd); static bool file_exist(const char *filename); static int file_copy(const char *file_old, const char *file_new); /** * Check if there is still free space available */ static int check_free_space(void); static void handle_command(struct vehicle_command_s *cmd); static void handle_status(struct vehicle_status_s *cmd); /** * Create dir for current logging session. Store dir name in 'log_dir'. */ static int create_log_dir(void); /** * Select first free log file name and open it. */ static int open_log_file(void); static int open_perf_file(const char* str); static void sdlog2_usage(const char *reason) { if (reason) { fprintf(stderr, "%s\n", reason); } errx(1, "usage: sdlog2 {start|stop|status} [-r ] [-b ] -e -a -t -x\n" "\t-r\tLog rate in Hz, 0 means unlimited rate\n" "\t-b\tLog buffer size in KiB, default is 8\n" "\t-e\tEnable logging by default (if not, can be started by command)\n" "\t-a\tLog only when armed (can be still overriden by command)\n" "\t-t\tUse date/time for naming log directories and files\n" "\t-x\tExtended logging"); } /** * The logger 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 < 2) { sdlog2_usage("missing command"); } if (!strcmp(argv[1], "start")) { if (thread_running) { warnx("already running"); /* this is not an error */ exit(0); } main_thread_should_exit = false; deamon_task = task_spawn_cmd("sdlog2", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 30, 3000, sdlog2_thread_main, (char * const *)argv); exit(0); } if (!strcmp(argv[1], "stop")) { if (!thread_running) { warnx("not started"); } main_thread_should_exit = true; exit(0); } if (!thread_running) { warnx("not started\n"); return 1; } if (!strcmp(argv[1], "status")) { sdlog2_status(); return 0; } if (!strcmp(argv[1], "on")) { struct vehicle_command_s cmd; cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; cmd.param3 = 1; int fd = orb_advertise(ORB_ID(vehicle_command), &cmd); close(fd); return 0; } if (!strcmp(argv[1], "off")) { struct vehicle_command_s cmd; cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; cmd.param3 = 0; int fd = orb_advertise(ORB_ID(vehicle_command), &cmd); close(fd); return 0; } sdlog2_usage("unrecognized command"); exit(1); } int create_log_dir() { /* create dir on sdcard if needed */ uint16_t dir_number = 1; // start with dir sess001 int mkdir_ret; struct timespec ts; clock_gettime(CLOCK_REALTIME, &ts); /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */ time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); struct tm tt; struct tm *ttp = gmtime_r(&utc_time_sec, &tt); if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root); strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt); mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); if ((mkdir_ret != OK) && (errno != EEXIST)) { warn("failed creating new dir: %s", log_dir); return -1; } } else { /* look for the next dir that does not exist */ while (dir_number <= MAX_NO_LOGFOLDER) { /* format log dir: e.g. /fs/microsd/sess001 */ sprintf(log_dir, "%s/sess%03u", log_root, dir_number); mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); if (mkdir_ret == 0) { warnx("log dir created: %s", log_dir); break; } else if (errno != EEXIST) { warn("failed creating new dir: %s", log_dir); return -1; } /* dir exists already */ dir_number++; continue; } if (dir_number >= MAX_NO_LOGFOLDER) { /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ warnx("all %d possible dirs exist already", MAX_NO_LOGFOLDER); return -1; } } /* print logging path, important to find log file later */ mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); return 0; } int open_log_file() { /* string to hold the path to the log */ char log_file_name[32] = ""; char log_file_path[64] = ""; struct timespec ts; clock_gettime(CLOCK_REALTIME, &ts); /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */ time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); struct tm tt; struct tm *ttp = gmtime_r(&utc_time_sec, &tt); /* start logging if we have a valid time and the time is not in the past */ if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.px4log", &tt); snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); } else { uint16_t file_number = 1; // start with file log001 /* look for the next file that does not exist */ while (file_number <= MAX_NO_LOGFILE) { /* format log file path: e.g. /fs/microsd/sess001/log001.px4log */ snprintf(log_file_name, sizeof(log_file_name), "log%03u.px4log", file_number); snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); if (!file_exist(log_file_path)) { break; } file_number++; } if (file_number > MAX_NO_LOGFILE) { /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name); } else { mavlink_and_console_log_info(mavlink_fd, "[sdlog2] starting: %s", log_file_name); } return fd; } int open_perf_file(const char* str) { /* string to hold the path to the log */ char log_file_name[32] = ""; char log_file_path[64] = ""; struct timespec ts; clock_gettime(CLOCK_REALTIME, &ts); /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.txt */ time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); struct tm tt; struct tm *ttp = gmtime_r(&utc_time_sec, &tt); if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt); snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name); } else { unsigned file_number = 1; // start with file log001 /* look for the next file that does not exist */ while (file_number <= MAX_NO_LOGFILE) { /* format log file path: e.g. /fs/microsd/sess001/log001.txt */ snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number); snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name); if (!file_exist(log_file_path)) { break; } file_number++; } if (file_number > MAX_NO_LOGFILE) { /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name); } return fd; } static void *logwriter_thread(void *arg) { /* set name */ prctl(PR_SET_NAME, "sdlog2_writer", 0); int log_fd = open_log_file(); if (log_fd < 0) { return NULL; } struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; /* write log messages formats, version and parameters */ log_bytes_written += write_formats(log_fd); log_bytes_written += write_version(log_fd); log_bytes_written += write_parameters(log_fd); fsync(log_fd); int poll_count = 0; void *read_ptr; int n = 0; bool should_wait = false; bool is_part = false; while (true) { /* make sure threads are synchronized */ pthread_mutex_lock(&logbuffer_mutex); /* update read pointer if needed */ if (n > 0) { logbuffer_mark_read(&lb, n); } /* only wait if no data is available to process */ if (should_wait && !logwriter_should_exit) { /* 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 */ int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); /* continue */ pthread_mutex_unlock(&logbuffer_mutex); if (available > 0) { /* do heavy IO here */ if (available > MAX_WRITE_CHUNK) { n = MAX_WRITE_CHUNK; } else { n = available; } perf_begin(perf_write); n = write(log_fd, read_ptr, n); perf_end(perf_write); should_wait = (n == available) && !is_part; if (n < 0) { main_thread_should_exit = true; err(1, "error writing log file"); } if (n > 0) { log_bytes_written += n; } } else { n = 0; /* exit only with empty buffer */ if (main_thread_should_exit || logwriter_should_exit) { break; } should_wait = true; } if (++poll_count == 10) { fsync(log_fd); poll_count = 0; } if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) { /* check if space is available, if not stop everything */ if (check_free_space() != OK) { logwriter_should_exit = true; main_thread_should_exit = true; } last_checked_bytes_written = log_bytes_written; } } fsync(log_fd); close(log_fd); return NULL; } void sdlog2_start_log() { if (logging_enabled) { return; } /* create log dir if needed */ if (create_log_dir() != 0) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); exit(1); } /* initialize statistics counter */ log_bytes_written = 0; start_time = hrt_absolute_time(); log_msgs_written = 0; log_msgs_skipped = 0; /* initialize log buffer emptying thread */ pthread_attr_init(&logwriter_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(&logwriter_attr, ¶m); pthread_attr_setstacksize(&logwriter_attr, 2048); logwriter_should_exit = false; /* allocate write performance counter */ perf_write = perf_alloc(PC_ELAPSED, "sd write"); /* start log buffer emptying thread */ if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) { errx(1, "error creating logwriter thread"); } /* write all performance counters */ int perf_fd = open_perf_file("preflight"); dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n"); perf_print_all(perf_fd); close(perf_fd); /* reset performance counters to get in-flight min and max values in post flight log */ perf_reset_all(); logging_enabled = true; } void sdlog2_stop_log() { if (!logging_enabled) { return; } logging_enabled = false; /* wake up write thread one last time */ pthread_mutex_lock(&logbuffer_mutex); logwriter_should_exit = true; pthread_cond_signal(&logbuffer_cond); /* unlock, now the writer thread may return */ pthread_mutex_unlock(&logbuffer_mutex); /* wait for write thread to return */ int ret; if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) { warnx("error joining logwriter thread: %i", ret); } logwriter_pthread = 0; pthread_attr_destroy(&logwriter_attr); /* write all performance counters */ int perf_fd = open_perf_file("postflight"); dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n"); perf_print_all(perf_fd); close(perf_fd); /* free log writer performance counter */ perf_free(perf_write); mavlink_and_console_log_info(mavlink_fd, "[sdlog2] logging stopped"); sdlog2_status(); } int write_formats(int fd) { /* construct message format packet */ struct { LOG_PACKET_HEADER; struct log_format_s body; } log_msg_format = { LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG), }; int written = 0; /* fill message format packet for each format and write it */ for (unsigned i = 0; i < log_formats_num; i++) { log_msg_format.body = log_formats[i]; written += write(fd, &log_msg_format, sizeof(log_msg_format)); } return written; } int write_version(int fd) { /* construct version message */ struct { LOG_PACKET_HEADER; struct log_VER_s body; } log_msg_VER = { LOG_PACKET_HEADER_INIT(LOG_VER_MSG), }; /* fill version message and write it */ strncpy(log_msg_VER.body.fw_git, GIT_VERSION, sizeof(log_msg_VER.body.fw_git)); strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch)); return write(fd, &log_msg_VER, sizeof(log_msg_VER)); } int write_parameters(int fd) { /* construct parameter message */ struct { LOG_PACKET_HEADER; struct log_PARM_s body; } log_msg_PARM = { LOG_PACKET_HEADER_INIT(LOG_PARM_MSG), }; int written = 0; param_t params_cnt = param_count(); for (param_t param = 0; param < params_cnt; param++) { /* fill parameter message and write it */ strncpy(log_msg_PARM.body.name, param_name(param), sizeof(log_msg_PARM.body.name)); float value = NAN; switch (param_type(param)) { case PARAM_TYPE_INT32: { int32_t i; param_get(param, &i); value = i; // cast integer to float break; } case PARAM_TYPE_FLOAT: param_get(param, &value); break; default: break; } log_msg_PARM.body.value = value; written += write(fd, &log_msg_PARM, sizeof(log_msg_PARM)); } return written; } bool copy_if_updated(orb_id_t topic, int *handle, void *buffer) { bool updated = false; if (*handle < 0) { if (OK == orb_exists(topic, 0)) { *handle = orb_subscribe(topic); /* copy first data */ if (*handle >= 0) { orb_copy(topic, *handle, buffer); updated = true; } } } else { orb_check(*handle, &updated); if (updated) { orb_copy(topic, *handle, buffer); } } return updated; } int sdlog2_thread_main(int argc, char *argv[]) { mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { warnx("ERR: log stream, start mavlink app first"); } /* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */ useconds_t sleep_delay = 20000; int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; logging_enabled = false; /* enable logging on start (-e option) */ bool log_on_start = false; /* enable logging when armed (-a option) */ bool log_when_armed = false; log_name_timestamp = false; flag_system_armed = false; /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; int ch; /* don't exit from getopt loop to leave getopt global variables in consistent state, * set error flag instead */ bool err_flag = false; while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); if (r == 0) { r = 1; } sleep_delay = 1000000 / r; } break; case 'b': { unsigned long s = strtoul(optarg, NULL, 10); if (s < 1) { s = 1; } log_buffer_size = 1024 * s; } break; case 'e': log_on_start = true; break; case 'a': log_when_armed = true; break; case 't': log_name_timestamp = true; break; case 'x': _extended_logging = true; break; case '?': if (optopt == 'c') { warnx("option -%c requires an argument", optopt); } else if (isprint(optopt)) { warnx("unknown option `-%c'", optopt); } else { warnx("unknown option character `\\x%x'", optopt); } err_flag = true; break; default: warnx("unrecognized flag"); err_flag = true; break; } } if (err_flag) { sdlog2_usage(NULL); } gps_time = 0; /* interpret logging params */ param_t log_rate_ph = param_find("SDLOG_RATE"); if (log_rate_ph != PARAM_INVALID) { int32_t param_log_rate; param_get(log_rate_ph, ¶m_log_rate); if (param_log_rate > 0) { /* we can't do more than ~ 500 Hz, even with a massive buffer */ if (param_log_rate > 500) { param_log_rate = 500; } sleep_delay = 1000000 / param_log_rate; } else if (param_log_rate == 0) { /* we need at minimum 10 Hz to be able to see anything */ sleep_delay = 1000000 / 10; } } param_t log_ext_ph = param_find("SDLOG_EXT"); if (log_ext_ph != PARAM_INVALID) { int32_t param_log_extended; param_get(log_ext_ph, ¶m_log_extended); if (param_log_extended > 0) { _extended_logging = true; } else if (param_log_extended == 0) { _extended_logging = false; } /* any other value means to ignore the parameter, so no else case */ } if (check_free_space() != OK) { errx(1, "ERR: MicroSD almost full"); } /* create log root dir */ int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); if (mkdir_ret != 0 && errno != EEXIST) { err(1, "ERR: failed creating log dir: %s", log_root); } /* copy conversion scripts */ const char *converter_in = "/etc/logging/conv.zip"; char *converter_out = malloc(64); snprintf(converter_out, 64, "%s/conv.zip", log_root); if (file_copy(converter_in, converter_out) != OK) { warn("unable to copy conversion scripts"); } free(converter_out); /* initialize log buffer with specified size */ warnx("log buffer size: %i bytes", log_buffer_size); if (OK != logbuffer_init(&lb, log_buffer_size)) { errx(1, "can't allocate log buffer, exiting"); } struct vehicle_status_s buf_status; struct vehicle_gps_position_s buf_gps_pos; memset(&buf_status, 0, sizeof(buf_status)); memset(&buf_gps_pos, 0, sizeof(buf_gps_pos)); /* warning! using union here to save memory, elements should be used separately! */ union { struct vehicle_command_s cmd; struct sensor_combined_s sensor; struct vehicle_attitude_s att; struct vehicle_attitude_setpoint_s att_sp; struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; struct actuator_controls_s act_controls1; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; struct vision_position_estimate vision_pos; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; struct airspeed_s airspeed; struct esc_status_s esc; struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; struct telemetry_status_s telemetry; struct range_finder_report range_finder; struct estimator_status_report estimator_status; struct tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; struct encoders_s encoders; struct vtol_vehicle_status_s vtol_status; struct time_offset_s time_offset; struct mc_att_ctrl_status_s mc_att_ctrl_status; } buf; memset(&buf, 0, sizeof(buf)); /* log message buffer: header + body */ #pragma pack(push, 1) struct { LOG_PACKET_HEADER; union { struct log_TIME_s log_TIME; struct log_ATT_s log_ATT; struct log_ATSP_s log_ATSP; struct log_IMU_s log_IMU; struct log_SENS_s log_SENS; struct log_LPOS_s log_LPOS; struct log_LPSP_s log_LPSP; struct log_GPS_s log_GPS; struct log_ATTC_s log_ATTC; struct log_STAT_s log_STAT; struct log_VTOL_s log_VTOL; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; struct log_GPOS_s log_GPOS; struct log_GPSP_s log_GPSP; struct log_ESC_s log_ESC; struct log_GVSP_s log_GVSP; struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; struct log_TEL_s log_TEL; struct log_EST0_s log_EST0; struct log_EST1_s log_EST1; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; struct log_VISN_s log_VISN; struct log_GS0A_s log_GS0A; struct log_GS0B_s log_GS0B; struct log_GS1A_s log_GS1A; struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; struct log_ENCD_s log_ENCD; struct log_TSYN_s log_TSYN; struct log_MACS_s log_MACS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) }; #pragma pack(pop) memset(&log_msg.body, 0, sizeof(log_msg.body)); struct { int cmd_sub; int status_sub; int vtol_status_sub; int sensor_sub; int att_sub; int att_sp_sub; int rates_sp_sub; int act_outputs_sub; int act_controls_sub; int act_controls_1_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; int triplet_sub; int gps_pos_sub; int sat_info_sub; int vicon_pos_sub; int vision_pos_sub; int flow_sub; int rc_sub; int airspeed_sub; int esc_sub; int global_vel_sp_sub; int battery_sub; int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM]; int range_finder_sub; int estimator_status_sub; int tecs_status_sub; int system_power_sub; int servorail_status_sub; int wind_sub; int encoders_sub; int tsync_sub; int mc_att_ctrl_status_sub; } subs; subs.cmd_sub = -1; subs.status_sub = -1; subs.vtol_status_sub = -1; subs.gps_pos_sub = -1; subs.sensor_sub = -1; subs.att_sub = -1; subs.att_sp_sub = -1; subs.rates_sp_sub = -1; subs.act_outputs_sub = -1; subs.act_controls_sub = -1; subs.act_controls_1_sub = -1; subs.local_pos_sub = -1; subs.local_pos_sp_sub = -1; subs.global_pos_sub = -1; subs.triplet_sub = -1; subs.vicon_pos_sub = -1; subs.vision_pos_sub = -1; subs.flow_sub = -1; subs.rc_sub = -1; subs.airspeed_sub = -1; subs.esc_sub = -1; subs.global_vel_sp_sub = -1; subs.battery_sub = -1; subs.range_finder_sub = -1; subs.estimator_status_sub = -1; subs.tecs_status_sub = -1; subs.system_power_sub = -1; subs.servorail_status_sub = -1; subs.wind_sub = -1; subs.tsync_sub = -1; subs.mc_att_ctrl_status_sub = -1; subs.encoders_sub = -1; /* add new topics HERE */ for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { subs.telemetry_subs[i] = -1; } subs.sat_info_sub = -1; /* close non-needed fd's */ /* close stdin */ close(0); /* close stdout */ close(1); thread_running = true; /* initialize thread synchronization */ pthread_mutex_init(&logbuffer_mutex, NULL); pthread_cond_init(&logbuffer_cond, NULL); /* track changes in sensor_combined topic */ hrt_abstime gyro_timestamp = 0; hrt_abstime accelerometer_timestamp = 0; hrt_abstime magnetometer_timestamp = 0; hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; hrt_abstime barometer1_timestamp = 0; hrt_abstime gyro1_timestamp = 0; hrt_abstime accelerometer1_timestamp = 0; hrt_abstime magnetometer1_timestamp = 0; hrt_abstime gyro2_timestamp = 0; hrt_abstime accelerometer2_timestamp = 0; hrt_abstime magnetometer2_timestamp = 0; /* initialize calculated mean SNR */ float snr_mean = 0.0f; /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ if (log_name_timestamp) { if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { gps_time = buf_gps_pos.time_utc_usec; } } sdlog2_start_log(); } while (!main_thread_should_exit) { usleep(sleep_delay); /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf.cmd)) { handle_command(&buf.cmd); } /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ bool status_updated = copy_if_updated(ORB_ID(vehicle_status), &subs.status_sub, &buf_status); if (status_updated) { if (log_when_armed) { handle_status(&buf_status); } } /* --- GPS POSITION - LOG MANAGEMENT --- */ bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), &subs.gps_pos_sub, &buf_gps_pos); if (gps_pos_updated && log_name_timestamp) { gps_time = buf_gps_pos.time_utc_usec; } if (!logging_enabled) { continue; } pthread_mutex_lock(&logbuffer_mutex); /* write time stamp message */ log_msg.msg_type = LOG_TIME_MSG; log_msg.body.log_TIME.t = hrt_absolute_time(); LOGBUFFER_WRITE_AND_COUNT(TIME); /* --- VEHICLE STATUS --- */ if (status_updated) { log_msg.msg_type = LOG_STAT_MSG; log_msg.body.log_STAT.main_state = buf_status.main_state; log_msg.body.log_STAT.arming_state = buf_status.arming_state; log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; log_msg.body.log_STAT.battery_warning = buf_status.battery_warning; log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; log_msg.body.log_STAT.load = buf_status.load; LOGBUFFER_WRITE_AND_COUNT(STAT); } /* --- VTOL VEHICLE STATUS --- */ if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) { log_msg.msg_type = LOG_VTOL_MSG; log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot; LOGBUFFER_WRITE_AND_COUNT(VTOL); } /* --- GPS POSITION - UNIT #1 --- */ if (gps_pos_updated) { log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec; log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; log_msg.body.log_GPS.eph = buf_gps_pos.eph; log_msg.body.log_GPS.epv = buf_gps_pos.epv; log_msg.body.log_GPS.lat = buf_gps_pos.lat; log_msg.body.log_GPS.lon = buf_gps_pos.lon; log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f; log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s; log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used; log_msg.body.log_GPS.snr_mean = snr_mean; log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms; log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator; LOGBUFFER_WRITE_AND_COUNT(GPS); } /* --- SATELLITE INFO - UNIT #1 --- */ if (_extended_logging) { if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) { /* log the SNR of each satellite for a detailed view of signal quality */ unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0])); unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]); log_msg.msg_type = LOG_GS0A_MSG; memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A)); snr_mean = 0.0f; /* fill set A and calculate mean SNR */ for (unsigned i = 0; i < sat_info_count; i++) { snr_mean += buf.sat_info.snr[i]; int satindex = buf.sat_info.svid[i] - 1; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0A); snr_mean /= sat_info_count; log_msg.msg_type = LOG_GS0B_MSG; memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B)); /* fill set B */ for (unsigned i = 0; i < sat_info_count; i++) { /* get second bank of satellites, thus deduct bank size from index */ int satindex = buf.sat_info.svid[i] - 1 - log_max_snr; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0B); } } /* --- SENSOR COMBINED --- */ if (copy_if_updated(ORB_ID(sensor_combined), &subs.sensor_sub, &buf.sensor)) { bool write_IMU = false; bool write_IMU1 = false; bool write_IMU2 = false; bool write_SENS = false; bool write_SENS1 = false; if (buf.sensor.timestamp != gyro_timestamp) { gyro_timestamp = buf.sensor.timestamp; write_IMU = true; } if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) { accelerometer_timestamp = buf.sensor.accelerometer_timestamp; write_IMU = true; } if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) { magnetometer_timestamp = buf.sensor.magnetometer_timestamp; write_IMU = true; } if (buf.sensor.baro_timestamp != barometer_timestamp) { barometer_timestamp = buf.sensor.baro_timestamp; write_SENS = true; } if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) { differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp; write_SENS = true; } if (write_IMU) { log_msg.msg_type = LOG_IMU_MSG; log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro_temp; log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp; log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } if (write_SENS) { log_msg.msg_type = LOG_SENS_MSG; log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa; LOGBUFFER_WRITE_AND_COUNT(SENS); } if (buf.sensor.baro1_timestamp != barometer1_timestamp) { barometer1_timestamp = buf.sensor.baro1_timestamp; write_SENS1 = true; } if (write_SENS1) { log_msg.msg_type = LOG_AIR1_MSG; log_msg.body.log_SENS.baro_pres = buf.sensor.baro1_pres_mbar; log_msg.body.log_SENS.baro_alt = buf.sensor.baro1_alt_meter; log_msg.body.log_SENS.baro_temp = buf.sensor.baro1_temp_celcius; log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure1_pa; log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure1_filtered_pa; // XXX moving to AIR0-AIR2 instead of SENS LOGBUFFER_WRITE_AND_COUNT(SENS); } if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) { accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp; write_IMU1 = true; } if (buf.sensor.gyro1_timestamp != gyro1_timestamp) { gyro1_timestamp = buf.sensor.gyro1_timestamp; write_IMU1 = true; } if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) { magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp; write_IMU1 = true; } if (write_IMU1) { log_msg.msg_type = LOG_IMU1_MSG; log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0]; log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1]; log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2]; log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0]; log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1]; log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2]; log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2]; log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro1_temp; log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer1_temp; log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer1_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) { accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp; write_IMU2 = true; } if (buf.sensor.gyro2_timestamp != gyro2_timestamp) { gyro2_timestamp = buf.sensor.gyro2_timestamp; write_IMU2 = true; } if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) { magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp; write_IMU2 = true; } if (write_IMU2) { log_msg.msg_type = LOG_IMU2_MSG; log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0]; log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1]; log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2]; log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0]; log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1]; log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2]; log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2]; log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro2_temp; log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer2_temp; log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer2_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } } /* --- ATTITUDE --- */ if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) { log_msg.msg_type = LOG_ATT_MSG; log_msg.body.log_ATT.q_w = buf.att.q[0]; log_msg.body.log_ATT.q_x = buf.att.q[1]; log_msg.body.log_ATT.q_y = buf.att.q[2]; log_msg.body.log_ATT.q_z = buf.att.q[3]; 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; log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; log_msg.body.log_ATT.gx = buf.att.g_comp[0]; log_msg.body.log_ATT.gy = buf.att.g_comp[1]; log_msg.body.log_ATT.gz = buf.att.g_comp[2]; LOGBUFFER_WRITE_AND_COUNT(ATT); } /* --- ATTITUDE SETPOINT --- */ if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), &subs.att_sp_sub, &buf.att_sp)) { log_msg.msg_type = LOG_ATSP_MSG; log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; log_msg.body.log_ATSP.q_w = buf.att_sp.q_d[0]; log_msg.body.log_ATSP.q_x = buf.att_sp.q_d[1]; log_msg.body.log_ATSP.q_y = buf.att_sp.q_d[2]; log_msg.body.log_ATSP.q_z = buf.att_sp.q_d[3]; LOGBUFFER_WRITE_AND_COUNT(ATSP); } /* --- RATES SETPOINT --- */ if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), &subs.rates_sp_sub, &buf.rates_sp)) { log_msg.msg_type = LOG_ARSP_MSG; log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; LOGBUFFER_WRITE_AND_COUNT(ARSP); } /* --- ACTUATOR OUTPUTS --- */ if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_sub, &buf.act_outputs)) { log_msg.msg_type = LOG_OUT0_MSG; memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); LOGBUFFER_WRITE_AND_COUNT(OUT0); } /* --- ACTUATOR CONTROL --- */ if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &subs.act_controls_sub, &buf.act_controls)) { log_msg.msg_type = LOG_ATTC_MSG; log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; LOGBUFFER_WRITE_AND_COUNT(ATTC); } /* --- ACTUATOR CONTROL FW VTOL --- */ if(copy_if_updated(ORB_ID(actuator_controls_1), &subs.act_controls_1_sub,&buf.act_controls)) { log_msg.msg_type = LOG_ATC1_MSG; log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; LOGBUFFER_WRITE_AND_COUNT(ATTC); } /* --- LOCAL POSITION --- */ if (copy_if_updated(ORB_ID(vehicle_local_position), &subs.local_pos_sub, &buf.local_pos)) { log_msg.msg_type = LOG_LPOS_MSG; log_msg.body.log_LPOS.x = buf.local_pos.x; log_msg.body.log_LPOS.y = buf.local_pos.y; log_msg.body.log_LPOS.z = buf.local_pos.z; log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.z_valid ? 2 : 0) | (buf.local_pos.v_xy_valid ? 4 : 0) | (buf.local_pos.v_z_valid ? 8 : 0) | (buf.local_pos.xy_global ? 16 : 0) | (buf.local_pos.z_global ? 32 : 0); log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); log_msg.body.log_LPOS.eph = buf.local_pos.eph; log_msg.body.log_LPOS.epv = buf.local_pos.epv; LOGBUFFER_WRITE_AND_COUNT(LPOS); } /* --- LOCAL POSITION SETPOINT --- */ if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), &subs.local_pos_sp_sub, &buf.local_pos_sp)) { log_msg.msg_type = LOG_LPSP_MSG; log_msg.body.log_LPSP.x = buf.local_pos_sp.x; log_msg.body.log_LPSP.y = buf.local_pos_sp.y; log_msg.body.log_LPSP.z = buf.local_pos_sp.z; log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; log_msg.body.log_LPSP.vx = buf.local_pos_sp.vx; log_msg.body.log_LPSP.vy = buf.local_pos_sp.vy; log_msg.body.log_LPSP.vz = buf.local_pos_sp.vz; log_msg.body.log_LPSP.acc_x = buf.local_pos_sp.acc_x; log_msg.body.log_LPSP.acc_y = buf.local_pos_sp.acc_y; log_msg.body.log_LPSP.acc_z = buf.local_pos_sp.acc_z; LOGBUFFER_WRITE_AND_COUNT(LPSP); } /* --- GLOBAL POSITION --- */ if (copy_if_updated(ORB_ID(vehicle_global_position), &subs.global_pos_sub, &buf.global_pos)) { log_msg.msg_type = LOG_GPOS_MSG; log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7; log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7; log_msg.body.log_GPOS.alt = buf.global_pos.alt; log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; log_msg.body.log_GPOS.eph = buf.global_pos.eph; log_msg.body.log_GPOS.epv = buf.global_pos.epv; if (buf.global_pos.terrain_alt_valid) { log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt; } else { log_msg.body.log_GPOS.terrain_alt = -1.0f; } LOGBUFFER_WRITE_AND_COUNT(GPOS); } /* --- GLOBAL POSITION SETPOINT --- */ if (copy_if_updated(ORB_ID(position_setpoint_triplet), &subs.triplet_sub, &buf.triplet)) { if (buf.triplet.current.valid) { log_msg.msg_type = LOG_GPSP_MSG; log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state; log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d); log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d); log_msg.body.log_GPSP.alt = buf.triplet.current.alt; log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; log_msg.body.log_GPSP.type = buf.triplet.current.type; log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; LOGBUFFER_WRITE_AND_COUNT(GPSP); } } /* --- VICON POSITION --- */ if (copy_if_updated(ORB_ID(vehicle_vicon_position), &subs.vicon_pos_sub, &buf.vicon_pos)) { log_msg.msg_type = LOG_VICN_MSG; log_msg.body.log_VICN.x = buf.vicon_pos.x; log_msg.body.log_VICN.y = buf.vicon_pos.y; log_msg.body.log_VICN.z = buf.vicon_pos.z; log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch; log_msg.body.log_VICN.roll = buf.vicon_pos.roll; log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; LOGBUFFER_WRITE_AND_COUNT(VICN); } /* --- VISION POSITION --- */ if (copy_if_updated(ORB_ID(vision_position_estimate), &subs.vision_pos_sub, &buf.vision_pos)) { log_msg.msg_type = LOG_VISN_MSG; log_msg.body.log_VISN.x = buf.vision_pos.x; log_msg.body.log_VISN.y = buf.vision_pos.y; log_msg.body.log_VISN.z = buf.vision_pos.z; log_msg.body.log_VISN.vx = buf.vision_pos.vx; log_msg.body.log_VISN.vy = buf.vision_pos.vy; log_msg.body.log_VISN.vz = buf.vision_pos.vz; log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention log_msg.body.log_VISN.qx = buf.vision_pos.q[1]; log_msg.body.log_VISN.qy = buf.vision_pos.q[2]; log_msg.body.log_VISN.qz = buf.vision_pos.q[3]; LOGBUFFER_WRITE_AND_COUNT(VISN); } /* --- FLOW --- */ if (copy_if_updated(ORB_ID(optical_flow), &subs.flow_sub, &buf.flow)) { log_msg.msg_type = LOG_FLOW_MSG; log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m; log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature; log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral; log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral; log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral; log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan; log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral; log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral; log_msg.body.log_FLOW.quality = buf.flow.quality; log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; LOGBUFFER_WRITE_AND_COUNT(FLOW); } /* --- RC CHANNELS --- */ if (copy_if_updated(ORB_ID(rc_channels), &subs.rc_sub, &buf.rc)) { log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel)); log_msg.body.log_RC.channel_count = buf.rc.channel_count; log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; LOGBUFFER_WRITE_AND_COUNT(RC); } /* --- AIRSPEED --- */ if (copy_if_updated(ORB_ID(airspeed), &subs.airspeed_sub, &buf.airspeed)) { log_msg.msg_type = LOG_AIRS_MSG; log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius; LOGBUFFER_WRITE_AND_COUNT(AIRS); } /* --- ESCs --- */ if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) { for (uint8_t i = 0; i < buf.esc.esc_count; i++) { log_msg.msg_type = LOG_ESC_MSG; log_msg.body.log_ESC.counter = buf.esc.counter; log_msg.body.log_ESC.esc_count = buf.esc.esc_count; log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; log_msg.body.log_ESC.esc_num = i; log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; LOGBUFFER_WRITE_AND_COUNT(ESC); } } /* --- GLOBAL VELOCITY SETPOINT --- */ if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), &subs.global_vel_sp_sub, &buf.global_vel_sp)) { log_msg.msg_type = LOG_GVSP_MSG; log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; LOGBUFFER_WRITE_AND_COUNT(GVSP); } /* --- BATTERY --- */ if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) { log_msg.msg_type = LOG_BATT_MSG; log_msg.body.log_BATT.voltage = buf.battery.voltage_v; log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; log_msg.body.log_BATT.current = buf.battery.current_a; log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; LOGBUFFER_WRITE_AND_COUNT(BATT); } /* --- SYSTEM POWER RAILS --- */ if (copy_if_updated(ORB_ID(system_power), &subs.system_power_sub, &buf.system_power)) { log_msg.msg_type = LOG_PWR_MSG; log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v; log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; /* copy servo rail status topic here too */ orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v; log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v; LOGBUFFER_WRITE_AND_COUNT(PWR); } /* --- TELEMETRY --- */ for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { if (copy_if_updated(telemetry_status_orb_id[i], &subs.telemetry_subs[i], &buf.telemetry)) { log_msg.msg_type = LOG_TEL0_MSG + i; log_msg.body.log_TEL.rssi = buf.telemetry.rssi; log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi; log_msg.body.log_TEL.noise = buf.telemetry.noise; log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise; log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors; log_msg.body.log_TEL.fixed = buf.telemetry.fixed; log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf; log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time; LOGBUFFER_WRITE_AND_COUNT(TEL); } } /* --- BOTTOM DISTANCE --- */ if (copy_if_updated(ORB_ID(sensor_range_finder), &subs.range_finder_sub, &buf.range_finder)) { log_msg.msg_type = LOG_DIST_MSG; log_msg.body.log_DIST.bottom = buf.range_finder.distance; log_msg.body.log_DIST.bottom_rate = 0.0f; log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); LOGBUFFER_WRITE_AND_COUNT(DIST); } /* --- ESTIMATOR STATUS --- */ if (copy_if_updated(ORB_ID(estimator_status), &subs.estimator_status_sub, &buf.estimator_status)) { log_msg.msg_type = LOG_EST0_MSG; unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s); memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s)); memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0); log_msg.body.log_EST0.n_states = buf.estimator_status.n_states; log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags; log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags; log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags; LOGBUFFER_WRITE_AND_COUNT(EST0); log_msg.msg_type = LOG_EST1_MSG; unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s); memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s)); memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1); LOGBUFFER_WRITE_AND_COUNT(EST1); } /* --- TECS STATUS --- */ if (copy_if_updated(ORB_ID(tecs_status), &subs.tecs_status_sub, &buf.tecs_status)) { log_msg.msg_type = LOG_TECS_MSG; log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered; log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp; log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle; log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered; log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp; log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered; log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp; log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative; log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp; log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate; log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp; log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate; log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode; LOGBUFFER_WRITE_AND_COUNT(TECS); } /* --- WIND ESTIMATE --- */ if (copy_if_updated(ORB_ID(wind_estimate), &subs.wind_sub, &buf.wind_estimate)) { log_msg.msg_type = LOG_WIND_MSG; log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north; log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east; log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north; log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east; LOGBUFFER_WRITE_AND_COUNT(WIND); } /* --- ENCODERS --- */ if (copy_if_updated(ORB_ID(encoders), &subs.encoders_sub, &buf.encoders)) { log_msg.msg_type = LOG_ENCD_MSG; log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0]; log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0]; log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1]; log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1]; LOGBUFFER_WRITE_AND_COUNT(ENCD); } /* --- TIMESYNC OFFSET --- */ if (copy_if_updated(ORB_ID(time_offset), &subs.tsync_sub, &buf.time_offset)) { log_msg.msg_type = LOG_TSYN_MSG; log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns; LOGBUFFER_WRITE_AND_COUNT(TSYN); } /* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */ if (copy_if_updated(ORB_ID(mc_att_ctrl_status), &subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) { log_msg.msg_type = LOG_MACS_MSG; log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ; log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ; log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ; LOGBUFFER_WRITE_AND_COUNT(MACS); } /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* 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); } if (logging_enabled) { sdlog2_stop_log(); } pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); free(lb.data); thread_running = false; return 0; } void sdlog2_status() { warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF"); if (!logging_enabled) { warnx("standing by"); } else { float kibibytes = log_bytes_written / 1024.0f; float mebibytes = kibibytes / 1024.0f; float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); } } /** * @return 0 if file exists */ bool file_exist(const char *filename) { struct stat buffer; return stat(filename, &buffer) == 0; } 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("ERR: open in"); return 1; } target = fopen(file_new, "w"); if (target == NULL) { fclose(source); warnx("ERR: open out"); 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 OK; } int check_free_space() { /* use statfs to determine the number of blocks left */ FAR struct statfs statfs_buf; if (statfs(mountpoint, &statfs_buf) != OK) { errx(ERROR, "ERR: statfs"); } /* use a threshold of 50 MiB */ if (statfs_buf.f_bavail < (int)(50 * 1024 * 1024 / statfs_buf.f_bsize)) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] no space on MicroSD: %u MiB", (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); /* we do not need a flag to remember that we sent this warning because we will exit anyway */ return ERROR; /* use a threshold of 100 MiB to send a warning */ } else if (!space_warning_sent && statfs_buf.f_bavail < (int)(100 * 1024 * 1024 / statfs_buf.f_bsize)) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] space on MicroSD low: %u MiB", (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); /* we don't want to flood the user with warnings */ space_warning_sent = true; } return OK; } void handle_command(struct vehicle_command_s *cmd) { int param; /* request to set different system mode */ switch (cmd->command) { case VEHICLE_CMD_PREFLIGHT_STORAGE: param = (int)(cmd->param3 + 0.5f); if (param == 1) { sdlog2_start_log(); } else if (param == 0) { sdlog2_stop_log(); } else { warnx("unknown storage cmd"); } break; default: /* silently ignore */ break; } } void handle_status(struct vehicle_status_s *status) { // TODO use flag from actuator_armed here? bool armed = status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR; if (armed != flag_system_armed) { flag_system_armed = armed; if (flag_system_armed) { sdlog2_start_log(); } else { sdlog2_stop_log(); } } }