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-rw-r--r--src/include/mavlink/mavlink_log.h36
-rw-r--r--src/modules/mavlink/mavlink_messages.cpp25
-rw-r--r--src/modules/sdlog2/sdlog2.c104
3 files changed, 131 insertions, 34 deletions
diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 6d56c546a..4962d029d 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -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
@@ -35,7 +35,7 @@
* @file mavlink_log.h
* MAVLink text logging.
*
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
*/
#ifndef MAVLINK_LOG
@@ -99,6 +99,38 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
*/
#define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
+/**
+ * Send a mavlink emergency message and print to console.
+ *
+ * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text The text to log;
+ */
+#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "telem> "); \
+ fprintf(stderr, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "\n");
+
+/**
+ * Send a mavlink critical message and print to console.
+ *
+ * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text The text to log;
+ */
+#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "telem> "); \
+ fprintf(stderr, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "\n");
+
+/**
+ * Send a mavlink emergency message and print to console.
+ *
+ * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text The text to log;
+ */
+#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "telem> "); \
+ fprintf(stderr, _text, ##__VA_ARGS__); \
+ fprintf(stderr, "\n");
struct mavlink_logmessage {
char text[MAVLINK_LOG_MAXLEN + 1];
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..963149779 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;
@@ -188,6 +192,9 @@ 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 +254,11 @@ 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 +402,7 @@ 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 +442,7 @@ 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 +450,10 @@ 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 +494,7 @@ 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 +502,10 @@ 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 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;
@@ -560,6 +567,7 @@ 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;
@@ -594,10 +602,19 @@ static void *logwriter_thread(void *arg)
should_wait = true;
}
- if (++poll_count == 10) {
+ /* slow down fsync */
+ if (poll_count % 10 == 0) {
fsync(log_fd);
- poll_count = 0;
+
+ /* slow down the check even more, and don't do both at the same time */
+ } else if (poll_count % 1000 == 5) {
+ /* check if space is available, if not stop everything */
+ if (check_free_space() != OK) {
+ logwriter_should_exit = true;
+ main_thread_should_exit = true;
+ }
}
+ poll_count++;
}
fsync(log_fd);
@@ -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 10 MiB */
+ if (statfs_buf.f_bavail < (int)(10 * 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;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-22 10:05:10 +0000