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author | Lorenz Meier <lorenz@px4.io> | 2015-01-04 20:44:23 +0100 |
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committer | Lorenz Meier <lorenz@px4.io> | 2015-01-04 20:44:23 +0100 |
commit | 79bff47692ff4fddea317781427794198e7ddc85 (patch) | |
tree | 4b2f54f8feb3a8490af22d2ae2dc078f997169aa /src/modules | |
parent | 2e1ac72b598184ef618beceb10de53606929edf7 (diff) | |
parent | 0265885a39282cf9aa34cf1647cf9b260f9f41cc (diff) | |
download | px4-firmware-79bff47692ff4fddea317781427794198e7ddc85.tar.gz px4-firmware-79bff47692ff4fddea317781427794198e7ddc85.tar.bz2 px4-firmware-79bff47692ff4fddea317781427794198e7ddc85.zip |
Merge pull request #1580 from PX4/sd_full
Check for full microSD card
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 25 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 102 |
2 files changed, 96 insertions, 31 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 89a40d032..6765100c7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -342,6 +342,8 @@ private: MavlinkStreamStatustext(MavlinkStreamStatustext &); MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &); FILE *fp = nullptr; + unsigned write_err_count = 0; + static const unsigned write_err_threshold = 5; protected: explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) @@ -370,10 +372,21 @@ protected: /* write log messages in first instance to disk */ if (_mavlink->get_instance_id() == 0) { if (fp) { - fputs(msg.text, fp); - fputs("\n", fp); - fsync(fileno(fp)); - } else { + if (EOF == fputs(msg.text, fp)) { + write_err_count++; + } else { + write_err_count = 0; + } + + if (write_err_count >= write_err_threshold) { + (void)fclose(fp); + fp = nullptr; + } else { + (void)fputs("\n", fp); + (void)fsync(fileno(fp)); + } + + } else if (write_err_count < write_err_threshold) { /* string to hold the path to the log */ char log_file_name[32] = ""; char log_file_path[64] = ""; @@ -389,6 +402,10 @@ protected: strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt); snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name); fp = fopen(log_file_path, "ab"); + + /* write first message */ + fputs(msg.text, fp); + fputs("\n", fp); } } } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c3952b77d..31cdff306 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * 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 @@ -39,12 +39,14 @@ * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Ban Siesta <bansiesta@gmail.com> */ #include <nuttx/config.h> #include <sys/types.h> #include <sys/stat.h> #include <sys/prctl.h> +#include <sys/statfs.h> #include <fcntl.h> #include <errno.h> #include <unistd.h> @@ -161,7 +163,9 @@ static const int MIN_BYTES_TO_WRITE = 512; static bool _extended_logging = false; -static const char *log_root = "/fs/microsd/log"; +#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; @@ -174,6 +178,7 @@ 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; @@ -188,6 +193,9 @@ 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; @@ -247,6 +255,11 @@ 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); @@ -390,8 +403,7 @@ int create_log_dir() } /* print logging path, important to find log file later */ - warnx("log dir: %s", log_dir); - mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); return 0; } @@ -431,7 +443,7 @@ int open_log_file() 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_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } @@ -439,12 +451,10 @@ int open_log_file() int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { - warn("failed opening log: %s", log_file_name); - mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); } else { - warnx("log file: %s", log_file_name); - mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } return fd; @@ -485,7 +495,7 @@ int open_perf_file(const char* str) 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_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } @@ -493,12 +503,8 @@ int open_perf_file(const char* str) int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { - warn("failed opening log: %s", log_file_name); - mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name); - } else { - warnx("log file: %s", log_file_name); - mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } return fd; @@ -560,6 +566,7 @@ static void *logwriter_thread(void *arg) pthread_mutex_unlock(&logbuffer_mutex); if (available > 0) { + /* do heavy IO here */ if (available > MAX_WRITE_CHUNK) { n = MAX_WRITE_CHUNK; @@ -597,6 +604,16 @@ static void *logwriter_thread(void *arg) 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; } } @@ -611,15 +628,15 @@ static void *logwriter_thread(void *arg) void sdlog2_start_log() { - warnx("start logging"); - mavlink_log_info(mavlink_fd, "[sdlog2] start logging"); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] start logging"); /* create log dir if needed */ if (create_log_dir() != 0) { - mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); - errx(1, "error creating log dir"); + 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(); @@ -657,8 +674,7 @@ void sdlog2_start_log() void sdlog2_stop_log() { - warnx("stop logging"); - mavlink_log_info(mavlink_fd, "[sdlog2] stop logging"); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] stop logging"); logging_enabled = false; @@ -784,7 +800,7 @@ int sdlog2_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - warnx("failed to open MAVLink log stream, start mavlink app first"); + warnx("ERR: log stream, start mavlink app first"); } /* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */ @@ -912,11 +928,17 @@ int sdlog2_thread_main(int argc, char *argv[]) } + + 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, "failed creating log root dir: %s", log_root); + err(1, "ERR: failed creating log dir: %s", log_root); } /* copy conversion scripts */ @@ -1768,8 +1790,6 @@ int sdlog2_thread_main(int argc, char *argv[]) free(lb.data); - warnx("exiting"); - thread_running = false; return 0; @@ -1802,7 +1822,7 @@ int file_copy(const char *file_old, const char *file_new) int ret = 0; if (source == NULL) { - warnx("failed opening input file to copy"); + warnx("ERR: open in"); return 1; } @@ -1810,7 +1830,7 @@ int file_copy(const char *file_old, const char *file_new) if (target == NULL) { fclose(source); - warnx("failed to open output file to copy"); + warnx("ERR: open out"); return 1; } @@ -1835,6 +1855,34 @@ int file_copy(const char *file_old, const char *file_new) 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; |