diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 09:15:55 +0100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 09:15:55 +0100 |
commit | dc80d6745e94df71d351f4338c610f910c2a4e94 (patch) | |
tree | bd4fbaa1d68fa6f38919167cea8285ba94b7e594 /src/modules/sdlog2/sdlog2.c | |
parent | 34d2f318ac8a72cce63e3e14e004daee45001011 (diff) | |
parent | 0fa03e65ab3ab0e173e487b3e5f5321780f3afff (diff) | |
download | px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.tar.gz px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.tar.bz2 px4-firmware-dc80d6745e94df71d351f4338c610f910c2a4e94.zip |
Merge branch 'master' of github.com:PX4/Firmware into pwm_ioctls
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 133 |
1 files changed, 106 insertions, 27 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 080aa550c..f94875d5b 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -58,6 +58,7 @@ #include <systemlib/err.h> #include <unistd.h> #include <drivers/drv_hrt.h> +#include <math.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> @@ -84,12 +85,14 @@ #include <uORB/topics/esc_status.h> #include <systemlib/systemlib.h> +#include <systemlib/param/param.h> #include <mavlink/mavlink_log.h> #include "logbuffer.h" #include "sdlog2_format.h" #include "sdlog2_messages.h" +#include "sdlog2_version.h" #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ @@ -180,8 +183,17 @@ static void sdlog2_stop_log(void); /** * Write a header to log file: list of message formats. */ -static void write_formats(int fd); +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); @@ -237,11 +249,11 @@ int sdlog2_main(int argc, char *argv[]) main_thread_should_exit = false; deamon_task = task_spawn_cmd("sdlog2", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 3000, - sdlog2_thread_main, - (const char **)argv); + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT - 30, + 3000, + sdlog2_thread_main, + (const char **)argv); exit(0); } @@ -354,10 +366,13 @@ static void *logwriter_thread(void *arg) struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; - int log_file = open_logfile(); + int log_fd = open_logfile(); - /* write log messages formats */ - write_formats(log_file); + /* 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; @@ -396,7 +411,7 @@ static void *logwriter_thread(void *arg) n = available; } - n = write(log_file, read_ptr, n); + n = write(log_fd, read_ptr, n); should_wait = (n == available) && !is_part; @@ -411,21 +426,23 @@ static void *logwriter_thread(void *arg) } 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_file); + fsync(log_fd); poll_count = 0; } } - fsync(log_file); - close(log_file); + fsync(log_fd); + close(log_fd); return OK; } @@ -479,34 +496,92 @@ void sdlog2_stop_log() /* 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; sdlog2_status(); } - -void write_formats(int fd) +int write_formats(int fd) { /* construct message format packet */ struct { LOG_PACKET_HEADER; struct log_format_s body; - } log_format_packet = { + } log_msg_format = { LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG), }; - /* fill message format packet for each format and write to log */ - int i; + int written = 0; - for (i = 0; i < log_formats_num; i++) { - log_format_packet.body = log_formats[i]; - log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet)); + /* fill message format packet for each format and write it */ + for (int i = 0; i < log_formats_num; i++) { + log_msg_format.body = log_formats[i]; + written += write(fd, &log_msg_format, sizeof(log_msg_format)); } - fsync(fd); + 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, FW_GIT, 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; } int sdlog2_thread_main(int argc, char *argv[]) @@ -584,12 +659,13 @@ int sdlog2_thread_main(int argc, char *argv[]) } const char *converter_in = "/etc/logging/conv.zip"; - char* converter_out = malloc(120); + char *converter_out = malloc(120); sprintf(converter_out, "%s/conv.zip", folder_path); if (file_copy(converter_in, converter_out)) { errx(1, "unable to copy conversion scripts, exiting."); } + free(converter_out); /* only print logging path, important to find log file later */ @@ -603,6 +679,7 @@ int sdlog2_thread_main(int argc, char *argv[]) } struct vehicle_status_s buf_status; + memset(&buf_status, 0, sizeof(buf_status)); /* warning! using union here to save memory, elements should be used separately! */ @@ -628,6 +705,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct esc_status_s esc; struct vehicle_global_velocity_setpoint_s global_vel_sp; } buf; + memset(&buf, 0, sizeof(buf)); struct { @@ -798,7 +876,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); fds[fdsc_count].fd = subs.airspeed_sub; fds[fdsc_count].events = POLLIN; - fdsc_count++; + fdsc_count++; /* --- ESCs --- */ subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); @@ -886,7 +964,7 @@ int sdlog2_thread_main(int argc, char *argv[]) continue; } - ifds = 1; // Begin from fds[1] again + ifds = 1; // begin from fds[1] again pthread_mutex_lock(&logbuffer_mutex); @@ -1145,8 +1223,8 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- ESCs --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc); - for (uint8_t i=0; i<buf.esc.esc_count; i++) - { + + 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; @@ -1294,6 +1372,7 @@ 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; |