/****************************************************************************
* examples/hello/main.c
*
* Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 NuttX 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 <time.h>
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <float.h>
#include <stdbool.h>
#include <sys/mount.h>
#include <sys/stat.h>
#include <time.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/prctl.h>
#include <errno.h>
#include "sdlog.h"
#include "sdlog_generated.h"
/****************************************************************************
* Definitions
****************************************************************************/
__EXPORT int sdlog_main(int argc, char *argv[]);
const char *src = "/dev/mmcsd0";
const char *trgt = "/fs/microsd";
const char *type = "vfat";
const char *logfile_end = ".px4log";
const char *mfile_end = ".m";
char folder_path[64];
#define SDLOG_LED_PRIORITY LED_REQUEST_PRIORITY_MAX
#define BUFFER_BYTES 1000 // length of buffer
#define SAVE_EVERY_BYTES 2000
#define MAX_MOUNT_TRIES 5
static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext); // is executed when SIGUSR1 is received
bool sdlog_sigusr1_rcvd; // if this is set to true through SIGUSR1, sdlog will terminate
static pthread_t logbuffer_thread; // thread to copy log values to the buffer
static void *logbuffer_loop(void *arg);
uint8_t *buffer_start; // always points to the very beginning
uint8_t *buffer_end; // always points to the very end
uint8_t *buffer_cursor_start; // points to the start of the current buffer
uint8_t *buffer_cursor_end; // points to the end of the current buffer
size_t buffer_bytes_used; // amount stored in the buffer at the moment
uint32_t bytes_recv; // to count bytes received and written to the sdcard
uint32_t bytes_sent; // to count the bytes written to the buffer
/****************************************************************************
* user_start
****************************************************************************/
int file_exist(const char *filename)
{
struct stat buffer;
return (stat(filename, &buffer) == 0);
}
int sdlog_main(int argc, char *argv[])
{
// print text
printf("[sdlog] initialized\n");
usleep(10000);
sdlog_sigusr1_rcvd = false;
led_request_t amber_on_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_ON};
led_request_t amber_off_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_OFF};
amber_on_request.pid = getpid();
amber_off_request.pid = getpid();
/* signal handler to abort when low voltage occurs */
struct sigaction act;
struct sigaction oact;
act.sa_sigaction = sdlog_sig_handler;
(void)sigemptyset(&act.sa_mask);
(void)sigaddset(&act.sa_mask, SIGUSR1);
(void)sigaction(SIGUSR1, &act, &oact);
uint8_t mount_counter = 0;
commander_state_machine_t current_system_state;
global_data_send_led_request(&amber_on_request);
if (file_exist(trgt) == 1) {
printf("[sdlog] Mount already available at %s\n", trgt);
global_data_send_led_request(&amber_off_request);
} else {
printf("[sdlog] Mount not available yet, trying to mount...\n");
/* mostly the first mount fails, sometimes it helps to press the card onto the board! */
while (mount(src, trgt, type, 0, "") != 0) {
/* abort if kill signal is received */
if (sdlog_sigusr1_rcvd == true) {
return 0;
}
//make sure were not airborne
global_data_trylock(&global_data_sys_status->access_conf);
current_system_state = global_data_sys_status->state_machine;
global_data_unlock(&global_data_sys_status->access_conf);
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT || current_system_state == SYSTEM_STATE_GROUND_ERROR) {
usleep(1000000);
printf("[sdlog] ERROR: Failed to mount SD card (attempt %d of %d), reason: %s\n", mount_counter + 1, MAX_MOUNT_TRIES, strerror((int)*get_errno_ptr()));
global_data_send_led_request(&amber_off_request);
mount_counter++;
} else {
printf("[sdlog] WARNING: Not mounting SD card in flight!\n");
printf("[sdlog] ending now...\n");
fflush(stdout);
return 0;
}
if (mount_counter >= MAX_MOUNT_TRIES) {
printf("[sdlog] ERROR: SD card could not be mounted!\n");
printf("[sdlog] ending now...\n");
fflush(stdout);
return 0;
}
}
printf("[sdlog] Mount created at %s...\n", trgt);
global_data_send_led_request(&amber_off_request);
}
/* 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/logfile0001.txt */
sprintf(folder_path, "%s/session%04u", trgt, 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 */
break;
} else if (mkdir_ret == -1) {
/* folder exists already */
foldernumber++; // to try next time
continue;
} else {
printf("[sdlog] ERROR: Failed creating new folder: %s\n", strerror((int)*get_errno_ptr()));
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 */
printf("[sdlog] ERROR: all %d possible folders exist already\n", MAX_NO_LOGFOLDER);
return -1;
}
/* write m-file for evaluation in Matlab */
FILE *mfile;
char mfile_path[64] = ""; // string to hold the path to the mfile
const char *mfilename = "sdlog_eval";
sprintf(mfile_path, "%s/%s%s", folder_path, mfilename, mfile_end);
if (NULL == (mfile = fopen(mfile_path, "w"))) {
printf("[sdlog] ERROR: opening %s failed: %s\n", mfile_path, strerror((int)*get_errno_ptr()));
}
/* write file contents generated using updatesdlog.sh and mfile.template in nuttx/configs/px4fmu/include */
fwrite(MFILE_STRING, sizeof(MFILE_STRING), 1, mfile);
fprintf(mfile, "\n");
fclose(mfile);
printf("[sdlog] m-file written to sdcard\n");
/* create the ringbuffer */
uint8_t buffer[BUFFER_BYTES];
buffer_start = buffer;
buffer_cursor_start = buffer;
buffer_cursor_end = buffer;
buffer_end = buffer + BUFFER_BYTES;
/* create loop to write log data in a ringbuffer */
pthread_attr_t logbuffer_attr;
pthread_attr_init(&logbuffer_attr);
pthread_attr_setstacksize(&logbuffer_attr, 2400);
pthread_create(&logbuffer_thread, &logbuffer_attr, logbuffer_loop, NULL);
/* create logfile */
FILE *logfile;
char logfile_path[64] = ""; // string to hold the path to the logfile
const char *logfilename = "all";
/* set up file path: e.g. /mnt/sdcard/session0001/gpslog.txt */
sprintf(logfile_path, "%s/%s%s", folder_path, logfilename, logfile_end);
if (NULL == (logfile = fopen(logfile_path, "wb"))) {
printf("[sdlog] opening %s failed: %s\n", logfile_path, strerror((int)*get_errno_ptr()));
}
// else
// {
// printf("[sdlog] opening %s was successful\n",logfile_path);
// }
int logfile_no = fileno(logfile);
bytes_recv = 0; /**< count all bytes that were received and written to the sdcard */
size_t ret_write; /**< last amount written to sdcard */
size_t target_write; /**< desired amount to write to sdcard */
int ret_fsync; /**< return value of fsync() system call */
int error_count = 0; /**< number of continous errors (one successful write resets it) */
/* Start logging */
while (1) {
/* write as soon as content is in the buffer */
while (buffer_bytes_used > 1) {
/* case where the data is not wrapped in the buffer */
if (buffer_cursor_start < buffer_cursor_end) {
/* write all available data */
target_write = (size_t)(buffer_cursor_end - buffer_cursor_start);
if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer, normally to 0 */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
}
/* case where the content is wrapped around the buffer */
else if (buffer_cursor_start > buffer_cursor_end) {
/* write data until the end of the buffer */
target_write = (size_t)(buffer_end - buffer_cursor_start);
if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
/* write the rest of the data at the beginning of the buffer */
target_write = (size_t)(buffer_cursor_end - buffer_start);
if (0 <= (ret_write = fwrite(buffer_start, 1, target_write, logfile))) {
/* decrease the amount stored in the buffer, now normally to 0 */
buffer_bytes_used -= ret_write;
/* set new cursor position: wrap it in case it falls out of the buffer */
buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES;
bytes_recv += ret_write;
error_count = 0;
} else {
error_count++;
printf("[sdlog] ERROR: write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr()));
}
} else {
error_count++;
printf("[sdlog] ERROR: dropped data\n");
}
// if(bytes_recv>500000)
// {
// goto finished;
// }
}
/* save and exit if we received signal 1 or have a permanent error */
if (sdlog_sigusr1_rcvd == true || error_count > 100) {
fclose(logfile);
umount(trgt);
if (error_count > 100) {
return ERROR;
} else {
return OK;
}
}
/* save file from time to time */
else if ((bytes_recv > 0 && bytes_recv % SAVE_EVERY_BYTES == 0)) {
if ((ret_fsync = fsync(logfile_no)) != OK) {
printf("[sdlog] ERROR: sync fail: #%d, %s\n", ret_fsync, strerror((int)*get_errno_ptr()));
}
}
// else if(bytes_recv > 2*SAVE_EVERY_BYTES)
// {
// goto finished;
// }
/* sleep, not to block everybody else */
usleep(1000);
}
//finished:
//
// /* at the moment we should not end here */
// fclose(logfile);
// printf("[sdlog] logfile saved\n");
// umount(trgt);
// printf("[sdlog] ending...\n");
// fflush(stdout);
return 0;
}
/* is executed when SIGUSR1 is raised (to terminate the app) */
static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext)
{
sdlog_sigusr1_rcvd = true;
}
static void *logbuffer_loop(void *arg)
{
/* set name for this pthread */
prctl(PR_SET_NAME, "sdlog logbuffer", getpid());
bytes_sent = 0; // count all bytes written to the buffer
//size_t block_length = sizeof(global_data_sensors_raw_t) - 4*sizeof(access_conf_t);
size_t first_block_length;
size_t second_block_length;
buffer_bytes_used = 0;
log_block_t log_block = {.check = {'$', '$', '$', '$'}};
size_t block_length = sizeof(log_block_t);
// printf("Block length is: %u",(uint16_t)block_length);
// uint16_t test_counter = 0;
/* start copying data to buffer */
while (1) {
copy_block(&log_block);
/* no more free space in buffer */
if (buffer_bytes_used + (uint16_t)block_length > BUFFER_BYTES) {
printf("[sdlog] buf full, skipping\n");
}
/* data needs to be wrapped around ringbuffer*/
else if (buffer_cursor_end + block_length >= buffer_end) {
/* first block length is from cursor until the end of the buffer */
first_block_length = (size_t)(buffer_end - buffer_cursor_end);
/* second block length is the rest */
second_block_length = block_length - first_block_length;
/* copy the data, not the pointer conversion */
memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), first_block_length);
memcpy(buffer_start, ((uint8_t *) & (log_block)) + first_block_length, second_block_length);
/* set the end position of the cursor */
buffer_cursor_end = buffer_start + second_block_length;
/* increase the amount stored in the buffer */
buffer_bytes_used += block_length;
bytes_sent += block_length;
}
/* data does not need to be wrapped around */
else {
/* copy the whole block in one step */
memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), block_length);
/* set the cursor to 0 of the buffer instead of the end */
buffer_cursor_end = buffer_start + (buffer_cursor_end - buffer_start + block_length) % BUFFER_BYTES;
/* increase the amount stored in the buffer */
buffer_bytes_used += block_length;
bytes_sent += block_length;
}
/* also end the pthread when we receive a SIGUSR1 */
if (sdlog_sigusr1_rcvd == true) {
break;
}
}
return NULL;
}
