diff options
| -rw-r--r-- | apps/sdlog/sdlog.c | 201 |
1 files changed, 136 insertions, 65 deletions
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index fbdd8fd62..f8668a2e3 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -36,12 +36,14 @@ * @file sdlog.c * @author Lorenz Meier <lm@inf.ethz.ch> * - * Simple SD logger for flight data + * Simple SD logger for flight data. Buffers new sensor values and + * does the heavy SD I/O in a low-priority worker thread. */ #include <nuttx/config.h> #include <sys/types.h> #include <sys/stat.h> +#include <sys/prctl.h> #include <fcntl.h> #include <errno.h> #include <unistd.h> @@ -83,6 +85,10 @@ static const char *mfile_in = "/etc/logging/logconv.m"; int sysvector_file = -1; struct sdlog_logbuffer lb; +/* mutex / condition to synchronize threads */ +pthread_mutex_t sysvector_mutex; +pthread_cond_t sysvector_cond; + /** * System state vector log buffer writing */ @@ -248,6 +254,9 @@ int create_logfolder(char *folder_path) static void * sdlog_sysvector_write_thread(void *arg) { + /* set name */ + prctl(PR_SET_NAME, "sdlog microSD I/O", 0); + struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg; int poll_count = 0; @@ -255,8 +264,22 @@ sdlog_sysvector_write_thread(void *arg) memset(&sysvect, 0, sizeof(sysvect)); while (!thread_should_exit) { - //pthread_mutex.. - if (sdlog_logbuffer_read(logbuf, &sysvect) == OK) { + + /* make sure threads are synchronized */ + pthread_mutex_lock(&sysvector_mutex); + + /* only wait if no data is available to process */ + if (sdlog_logbuffer_is_empty(logbuf)) { + /* blocking wait for new data at this line */ + pthread_cond_wait(&sysvector_cond, &sysvector_mutex); + } + + /* only quickly load data, do heavy I/O a few lines down */ + int ret = sdlog_logbuffer_read(logbuf, &sysvect); + /* continue */ + pthread_mutex_unlock(&sysvector_mutex); + + if (ret == OK) { sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect)); } @@ -265,7 +288,6 @@ sdlog_sysvector_write_thread(void *arg) } poll_count++; - usleep(3000); } fsync(sysvector_file); @@ -289,6 +311,8 @@ sysvector_write_start(struct sdlog_logbuffer *logbuf) pthread_t thread; pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf); return thread; + + // XXX we have to destroy the attr at some point } @@ -524,23 +548,64 @@ int sdlog_thread_main(int argc, char *argv[]) thread_running = true; - /* Initialize log buffer with a size of 5 */ - sdlog_logbuffer_init(&lb, 5); + /* initialize log buffer with a size of 10 */ + sdlog_logbuffer_init(&lb, 10); + + /* initialize thread synchronization */ + pthread_mutex_init(&sysvector_mutex, NULL); + pthread_cond_init(&sysvector_cond, NULL); + /* start logbuffer emptying thread */ pthread_t sysvector_pthread = sysvector_write_start(&lb); starttime = hrt_absolute_time(); + // XXX clock the log for now with the gyro output rate / 2 + struct pollfd gyro_fd; + gyro_fd.fd = subs.sensor_sub; + gyro_fd.events = POLLIN; + + /* log every 2nd value (skip one) */ + int skip_value = 0; + /* track skipping */ + int skip_count = 0; + while (!thread_should_exit) { + // XXX only use gyro for now + int poll_ret = poll(&gyro_fd, 1, 1000); + // int poll_ret = poll(fds, fdsc_count, timeout); - // /* handle the poll result */ - // if (poll_ret == 0) { - // /* XXX this means none of our providers is giving us data - might be an error? */ - // } else if (poll_ret < 0) { - // /* XXX this is seriously bad - should be an emergency */ - // } else { + /* handle the poll result */ + if (poll_ret == 0) { + /* XXX this means none of our providers is giving us data - might be an error? */ + } else if (poll_ret < 0) { + /* XXX this is seriously bad - should be an emergency */ + } else { + + /* always copy sensors raw data into local buffer, since poll flags won't clear else */ + orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); + /* copy actuator data into local buffer */ + orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); + orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); + orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); + orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); + orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); + orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); + + if (skip_count < skip_value) { + skip_count++; + /* do not log data */ + continue; + } else { + /* log data, reset */ + skip_count = 0; + } // int ifds = 0; @@ -601,59 +666,62 @@ int sdlog_thread_main(int argc, char *argv[]) // /* write out */ // actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls)); // } - // } - - - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); - /* copy actuator data into local buffer */ - orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); - orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); - - struct sdlog_sysvector sysvect = { - .timestamp = buf.raw.timestamp, - .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, - .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, - .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, - .baro = buf.raw.baro_pres_mbar, - .baro_alt = buf.raw.baro_alt_meter, - .baro_temp = buf.raw.baro_temp_celcius, - .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, - .actuators = { - buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], - buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] - }, - .vbat = buf.batt.voltage_v, - .bat_current = buf.batt.current_a, - .bat_discharged = buf.batt.discharged_mah, - .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]}, - .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, - .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, - .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, - .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, - .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, - .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, - .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_mbar, - .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, - .true_airspeed = buf.diff_pressure.true_airspeed_m_s - }; - - /* put into buffer for later IO */ - sdlog_logbuffer_write(&lb, &sysvect); - // XXX notify writing thread through pthread mutex - - usleep(3500); // roughly 150 Hz + + + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); + /* copy actuator data into local buffer */ + orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); + orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); + orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); + orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); + orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); + orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); + orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); + + struct sdlog_sysvector sysvect = { + .timestamp = buf.raw.timestamp, + .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, + .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, + .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, + .baro = buf.raw.baro_pres_mbar, + .baro_alt = buf.raw.baro_alt_meter, + .baro_temp = buf.raw.baro_temp_celcius, + .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, + .actuators = { + buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], + buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] + }, + .vbat = buf.batt.voltage_v, + .bat_current = buf.batt.current_a, + .bat_discharged = buf.batt.discharged_mah, + .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]}, + .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, + .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, + .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, + .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, + .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, + .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, + .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, + .diff_pressure = buf.diff_pressure.differential_pressure_mbar, + .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, + .true_airspeed = buf.diff_pressure.true_airspeed_m_s + }; + + /* put into buffer for later IO */ + pthread_mutex_lock(&sysvector_mutex); + sdlog_logbuffer_write(&lb, &sysvect); + /* signal the other thread new data, but not yet unlock */ + pthread_cond_signal(&sysvector_cond); + /* unlock, now the writer thread may run */ + pthread_mutex_unlock(&sysvector_mutex); + } + } print_sdlog_status(); @@ -661,6 +729,9 @@ int sdlog_thread_main(int argc, char *argv[]) /* wait for write thread to return */ (void)pthread_join(sysvector_pthread, NULL); + pthread_mutex_destroy(&sysvector_mutex); + pthread_cond_destroy(&sysvector_cond); + warnx("exiting.\n"); close(sensorfile); |