Merge remote-tracking branch 'drton/sdlog2' into new_state_machine

Conflicts:
	src/modules/sdlog2/sdlog2.c

4 files changed, 100 insertions, 50 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 8e18c3c9a..16d5ad626 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
-					      12400,
+					      14000,
 					      attitude_estimator_ekf_thread_main,
 					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c
index 8aaafaf31..2e1e4fd4d 100644
--- a/src/modules/sdlog2/logbuffer.c
+++ b/src/modules/sdlog2/logbuffer.c
@@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
 	} else {
 		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
 		n = lb->size - lb->read_ptr;
-		*is_part = true;
+		*is_part = lb->write_ptr > 0;
 	}
 
 	*ptr = &(lb->data[lb->read_ptr]);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 5a3478665..885155e0d 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -65,6 +65,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -115,35 +116,34 @@ static const int MAX_WRITE_CHUNK = 512;
 static const int MIN_BYTES_TO_WRITE = 512;
 
 static const char *mountpoint = "/fs/microsd";
-int log_file = -1;
-int mavlink_fd = -1;
+static int mavlink_fd = -1;
 struct logbuffer_s lb;
 
 /* mutex / condition to synchronize threads */
-pthread_mutex_t logbuffer_mutex;
-pthread_cond_t logbuffer_cond;
+static pthread_mutex_t logbuffer_mutex;
+static pthread_cond_t logbuffer_cond;
 
-char folder_path[64];
+static char folder_path[64];
 
 /* statistics counters */
-unsigned long log_bytes_written = 0;
-uint64_t start_time = 0;
-unsigned long log_msgs_written = 0;
-unsigned long log_msgs_skipped = 0;
+static unsigned long log_bytes_written = 0;
+static uint64_t start_time = 0;
+static unsigned long log_msgs_written = 0;
+static unsigned long log_msgs_skipped = 0;
 
 /* current state of logging */
-bool logging_enabled = false;
+static bool logging_enabled = false;
 /* enable logging on start (-e option) */
-bool log_on_start = false;
+static bool log_on_start = false;
 /* enable logging when armed (-a option) */
-bool log_when_armed = false;
+static bool log_when_armed = false;
 /* delay = 1 / rate (rate defined by -r option) */
-useconds_t sleep_delay = 0;
+static useconds_t sleep_delay = 0;
 
 /* helper flag to track system state changes */
-bool flag_system_armed = false;
+static bool flag_system_armed = false;
 
-pthread_t logwriter_pthread = 0;
+static pthread_t logwriter_pthread = 0;
 
 /**
  * Log buffer writing thread. Open and close file here.
@@ -173,17 +173,17 @@ static void sdlog2_status(void);
 /**
  * Start logging: create new file and start log writer thread.
  */
-void sdlog2_start_log();
+static void sdlog2_start_log(void);
 
 /**
  * Stop logging: stop log writer thread and close log file.
  */
-void sdlog2_stop_log();
+static void sdlog2_stop_log(void);
 
 /**
  * Write a header to log file: list of message formats.
  */
-void write_formats(int fd);
+static void write_formats(int fd);
 
 
 static bool file_exist(const char *filename);
@@ -197,12 +197,12 @@ static void handle_status(struct actuator_safety_s *safety);
 /**
  * Create folder for current logging session. Store folder name in 'log_folder'.
  */
-static int create_logfolder();
+static int create_logfolder(void);
 
 /**
  * Select first free log file name and open it.
  */
-static int open_logfile();
+static int open_logfile(void);
 
 static void
 sdlog2_usage(const char *reason)
@@ -242,7 +242,7 @@ int sdlog2_main(int argc, char *argv[])
 		deamon_task = task_spawn("sdlog2",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT - 30,
-					 2048,
+					 3000,
 					 sdlog2_thread_main,
 					 (const char **)argv);
 		exit(0);
@@ -287,22 +287,6 @@ int create_logfolder()
 
 		if (mkdir_ret == 0) {
 			/* folder does not exist, success */
-
-			/* copy parser script file */
-			// TODO
-			/*
-			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) {
@@ -404,6 +388,11 @@ static void *logwriter_thread(void *arg)
 		/* 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);
 
+#ifdef SDLOG2_DEBUG
+		int rp = logbuf->read_ptr;
+		int wp = logbuf->write_ptr;
+#endif
+
 		/* continue */
 		pthread_mutex_unlock(&logbuffer_mutex);
 
@@ -420,7 +409,7 @@ static void *logwriter_thread(void *arg)
 
 			should_wait = (n == available) && !is_part;
 #ifdef SDLOG2_DEBUG
-			printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
+			printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
 #endif
 
 			if (n < 0) {
@@ -433,14 +422,14 @@ static void *logwriter_thread(void *arg)
 			}
 
 		} else {
+			n = 0;
 			should_wait = true;
 		}
 
-		if (poll_count % 10 == 0) {
+		if (++poll_count == 10) {
 			fsync(log_file);
+			poll_count = 0;
 		}
-
-		poll_count++;
 	}
 
 	fsync(log_file);
@@ -609,9 +598,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		errx(1, "can't allocate log buffer, exiting.");
 	}
 
-	/* file descriptors to wait for */
-	struct pollfd fds_control[2];
-
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
 	/* number of messages */
 	const ssize_t fdsc = 17;
@@ -633,6 +619,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		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_effective_s act_controls_effective;
@@ -656,6 +643,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		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_effective_sub;
@@ -667,6 +655,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int control_debug_sub;
 		int flow_sub;
 		int rc_sub;
+		int airspeed_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -687,6 +676,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_CTRL_s log_CTRL;
 			struct log_RC_s log_RC;
 			struct log_OUT0_s log_OUT0;
+			struct log_AIRS_s log_AIRS;
+			struct log_ARSP_s log_ARSP;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -736,6 +727,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- RATES SETPOINT --- */
+	subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	fds[fdsc_count].fd = subs.rates_sp_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- ACTUATOR OUTPUTS --- */
 	subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
 	fds[fdsc_count].fd = subs.act_outputs_sub;
@@ -796,6 +793,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- AIRSPEED --- */
+	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	fds[fdsc_count].fd = subs.airspeed_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.
@@ -921,7 +924,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
 				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 * 0.001;
+				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;
@@ -991,6 +994,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 				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;
 				LOGBUFFER_WRITE_AND_COUNT(ATT);
 			}
 
@@ -1001,9 +1007,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 				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;
 				LOGBUFFER_WRITE_AND_COUNT(ATSP);
 			}
 
+			/* --- RATES SETPOINT --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(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 (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
@@ -1105,10 +1122,22 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(RC);
 			}
 
+			/* --- AIRSPEED --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(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;
+				LOGBUFFER_WRITE_AND_COUNT(AIRS);
+			}
+
+#ifdef SDLOG2_DEBUG
+				printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
+#endif
 			/* signal the other thread new data, but not yet unlock */
 			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 #ifdef SDLOG2_DEBUG
-				printf("signal %i", logbuffer_count(&lb));
+				printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
 #endif
 				/* only request write if several packets can be written at once */
 				pthread_cond_signal(&logbuffer_cond);
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 98a64ef21..a83a72514 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -60,6 +60,9 @@ struct log_ATT_s {
 	float roll;
 	float pitch;
 	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
 };
 
 /* --- ATSP - ATTITUDE SET POINT --- */
@@ -68,6 +71,7 @@ struct log_ATSP_s {
 	float roll_sp;
 	float pitch_sp;
 	float yaw_sp;
+	float thrust_sp;
 };
 
 /* --- IMU - IMU SENSORS --- */
@@ -184,14 +188,29 @@ struct log_RC_s {
 struct log_OUT0_s {
 	float output[8];
 };
+
+/* --- AIRS - AIRSPEED --- */
+#define LOG_AIRS_MSG 13
+struct log_AIRS_s {
+	float indicated_airspeed;
+	float true_airspeed;
+};
+
+/* --- ARSP - ATTITUDE RATE SET POINT --- */
+#define LOG_ARSP_MSG 14
+struct log_ARSP_s {
+	float roll_rate_sp;
+	float pitch_rate_sp;
+	float yaw_rate_sp;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
-	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
-	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
+	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
 	LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
@@ -202,6 +221,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
 	LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
+	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);