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Diffstat (limited to 'apps/sdlog/sdlog.c')
-rw-r--r-- | apps/sdlog/sdlog.c | 442 |
1 files changed, 442 insertions, 0 deletions
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c new file mode 100644 index 000000000..1b87aab77 --- /dev/null +++ b/apps/sdlog/sdlog.c @@ -0,0 +1,442 @@ +/**************************************************************************** + * examples/hello/main.c + * + * Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +#include <time.h> +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <stdint.h> +#include <stdlib.h> +#include <string.h> +#include <float.h> +#include <stdbool.h> +#include <sys/mount.h> +#include <sys/stat.h> +#include <time.h> +#include <pthread.h> +#include <fcntl.h> +#include <sys/prctl.h> +#include <errno.h> + +#include "sdlog.h" +#include "sdlog_generated.h" + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +__EXPORT int sdlog_main(int argc, char *argv[]); + +const char *src = "/dev/mmcsd0"; +const char *trgt = "/fs/microsd"; +const char *type = "vfat"; +const char *logfile_end = ".px4log"; +const char *mfile_end = ".m"; +char folder_path[64]; + +#define SDLOG_LED_PRIORITY LED_REQUEST_PRIORITY_MAX +#define BUFFER_BYTES 1000 // length of buffer +#define SAVE_EVERY_BYTES 2000 +#define MAX_MOUNT_TRIES 5 + +static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext); // is executed when SIGUSR1 is received +bool sdlog_sigusr1_rcvd; // if this is set to true through SIGUSR1, sdlog will terminate + +static pthread_t logbuffer_thread; // thread to copy log values to the buffer +static void *logbuffer_loop(void *arg); + + +uint8_t *buffer_start; // always points to the very beginning +uint8_t *buffer_end; // always points to the very end +uint8_t *buffer_cursor_start; // points to the start of the current buffer +uint8_t *buffer_cursor_end; // points to the end of the current buffer +size_t buffer_bytes_used; // amount stored in the buffer at the moment + +uint32_t bytes_recv; // to count bytes received and written to the sdcard +uint32_t bytes_sent; // to count the bytes written to the buffer + +/**************************************************************************** + * user_start + ****************************************************************************/ + +int file_exist(const char *filename) +{ + struct stat buffer; + return (stat(filename, &buffer) == 0); +} + + +int sdlog_main(int argc, char *argv[]) +{ + // print text + printf("[sdlog] initialized\n"); + usleep(10000); + + sdlog_sigusr1_rcvd = false; + + led_request_t amber_on_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_ON}; + led_request_t amber_off_request = {.led = LED_AMBER, .priority = SDLOG_LED_PRIORITY, .request_type = LED_REQUEST_OFF}; + amber_on_request.pid = getpid(); + amber_off_request.pid = getpid(); + + /* signal handler to abort when low voltage occurs */ + struct sigaction act; + struct sigaction oact; + act.sa_sigaction = sdlog_sig_handler; + (void)sigemptyset(&act.sa_mask); + (void)sigaddset(&act.sa_mask, SIGUSR1); + (void)sigaction(SIGUSR1, &act, &oact); + + uint8_t mount_counter = 0; + + commander_state_machine_t current_system_state; + + global_data_send_led_request(&amber_on_request); + + if (file_exist(trgt) == 1) { + printf("[sdlog] Mount already available at %s\n", trgt); + global_data_send_led_request(&amber_off_request); + + } else { + printf("[sdlog] Mount not available yet, trying to mount...\n"); + + /* mostly the first mount fails, sometimes it helps to press the card onto the board! */ + while (mount(src, trgt, type, 0, "") != 0) { + /* abort if kill signal is received */ + if (sdlog_sigusr1_rcvd == true) { + return 0; + } + + //make sure were not airborne + global_data_trylock(&global_data_sys_status->access_conf); + current_system_state = global_data_sys_status->state_machine; + global_data_unlock(&global_data_sys_status->access_conf); + + if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT || current_system_state == SYSTEM_STATE_GROUND_ERROR) { + usleep(1000000); + printf("[sdlog] ERROR: Failed to mount SD card (attempt %d of %d), reason: %s\n", mount_counter + 1, MAX_MOUNT_TRIES, strerror((int)*get_errno_ptr())); + global_data_send_led_request(&amber_off_request); + mount_counter++; + + } else { + printf("[sdlog] WARNING: Not mounting SD card in flight!\n"); + printf("[sdlog] ending now...\n"); + fflush(stdout); + return 0; + } + + if (mount_counter >= MAX_MOUNT_TRIES) { + printf("[sdlog] ERROR: SD card could not be mounted!\n"); + printf("[sdlog] ending now...\n"); + fflush(stdout); + return 0; + } + } + + printf("[sdlog] Mount created at %s...\n", trgt); + global_data_send_led_request(&amber_off_request); + } + + + /* make folder on sdcard */ + uint16_t foldernumber = 1; // start with folder 0001 + int mkdir_ret; + + /* look for the next folder that does not exist */ + while (foldernumber < MAX_NO_LOGFOLDER) { + /* set up file path: e.g. /mnt/sdcard/logfile0001.txt */ + sprintf(folder_path, "%s/session%04u", trgt, foldernumber); + mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); + /* the result is -1 if the folder exists */ + + if (mkdir_ret == 0) { + /* folder does not exist */ + break; + + } else if (mkdir_ret == -1) { + /* folder exists already */ + foldernumber++; // to try next time + continue; + + } else { + printf("[sdlog] ERROR: Failed creating new folder: %s\n", strerror((int)*get_errno_ptr())); + return -1; + } + } + + if (foldernumber >= MAX_NO_LOGFOLDER) { + /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ + printf("[sdlog] ERROR: all %d possible folders exist already\n", MAX_NO_LOGFOLDER); + return -1; + } + + + /* write m-file for evaluation in Matlab */ + FILE *mfile; + char mfile_path[64] = ""; // string to hold the path to the mfile + const char *mfilename = "sdlog_eval"; + + sprintf(mfile_path, "%s/%s%s", folder_path, mfilename, mfile_end); + + if (NULL == (mfile = fopen(mfile_path, "w"))) { + printf("[sdlog] ERROR: opening %s failed: %s\n", mfile_path, strerror((int)*get_errno_ptr())); + } + + /* write file contents generated using updatesdlog.sh and mfile.template in nuttx/configs/px4fmu/include */ + fwrite(MFILE_STRING, sizeof(MFILE_STRING), 1, mfile); + fprintf(mfile, "\n"); + fclose(mfile); + printf("[sdlog] m-file written to sdcard\n"); + + + /* create the ringbuffer */ + uint8_t buffer[BUFFER_BYTES]; + buffer_start = buffer; + buffer_cursor_start = buffer; + buffer_cursor_end = buffer; + buffer_end = buffer + BUFFER_BYTES; + + /* create loop to write log data in a ringbuffer */ + pthread_attr_t logbuffer_attr; + pthread_attr_init(&logbuffer_attr); + pthread_attr_setstacksize(&logbuffer_attr, 2400); + pthread_create(&logbuffer_thread, &logbuffer_attr, logbuffer_loop, NULL); + + /* create logfile */ + FILE *logfile; + char logfile_path[64] = ""; // string to hold the path to the logfile + const char *logfilename = "all"; + + /* set up file path: e.g. /mnt/sdcard/session0001/gpslog.txt */ + sprintf(logfile_path, "%s/%s%s", folder_path, logfilename, logfile_end); + + + if (NULL == (logfile = fopen(logfile_path, "wb"))) { + printf("[sdlog] opening %s failed: %s\n", logfile_path, strerror((int)*get_errno_ptr())); + } + +// else +// { +// printf("[sdlog] opening %s was successful\n",logfile_path); +// } + + int logfile_no = fileno(logfile); + + bytes_recv = 0; /**< count all bytes that were received and written to the sdcard */ + size_t ret_write; /**< last amount written to sdcard */ + size_t target_write; /**< desired amount to write to sdcard */ + int ret_fsync; /**< return value of fsync() system call */ + int error_count = 0; /**< number of continous errors (one successful write resets it) */ + + /* Start logging */ + while (1) { + /* write as soon as content is in the buffer */ + while (buffer_bytes_used > 1) { + /* case where the data is not wrapped in the buffer */ + if (buffer_cursor_start < buffer_cursor_end) { + /* write all available data */ + target_write = (size_t)(buffer_cursor_end - buffer_cursor_start); + + if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) { + /* decrease the amount stored in the buffer, normally to 0 */ + buffer_bytes_used -= ret_write; + /* set new cursor position: wrap it in case it falls out of the buffer */ + buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES; + bytes_recv += ret_write; + error_count = 0; + + } else { + error_count++; + printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr())); + } + } + + /* case where the content is wrapped around the buffer */ + else if (buffer_cursor_start > buffer_cursor_end) { + /* write data until the end of the buffer */ + target_write = (size_t)(buffer_end - buffer_cursor_start); + + if (0 <= (ret_write = fwrite(buffer_cursor_start, 1, target_write, logfile))) { + /* decrease the amount stored in the buffer */ + buffer_bytes_used -= ret_write; + /* set new cursor position: wrap it in case it falls out of the buffer */ + buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES; + bytes_recv += ret_write; + error_count = 0; + + } else { + error_count++; + printf("[sdlog] ERROR: Write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr())); + } + + /* write the rest of the data at the beginning of the buffer */ + target_write = (size_t)(buffer_cursor_end - buffer_start); + + if (0 <= (ret_write = fwrite(buffer_start, 1, target_write, logfile))) { + /* decrease the amount stored in the buffer, now normally to 0 */ + buffer_bytes_used -= ret_write; + /* set new cursor position: wrap it in case it falls out of the buffer */ + buffer_cursor_start = buffer_start + (buffer_cursor_start - buffer_start + ret_write) % BUFFER_BYTES; + bytes_recv += ret_write; + error_count = 0; + + } else { + error_count++; + printf("[sdlog] ERROR: write fail: %d of %d, %s\n", ret_write, target_write, strerror((int)*get_errno_ptr())); + } + + } else { + error_count++; + printf("[sdlog] ERROR: dropped data\n"); + } + +// if(bytes_recv>500000) +// { +// goto finished; +// } + } + + + /* save and exit if we received signal 1 or have a permanent error */ + if (sdlog_sigusr1_rcvd == true || error_count > 100) { + fclose(logfile); + umount(trgt); + + if (error_count > 100) { + return ERROR; + + } else { + return OK; + } + } + + /* save file from time to time */ + else if ((bytes_recv > 0 && bytes_recv % SAVE_EVERY_BYTES == 0)) { + if ((ret_fsync = fsync(logfile_no)) != OK) { + printf("[sdlog] ERROR: sync fail: #%d, %s\n", ret_fsync, strerror((int)*get_errno_ptr())); + } + } + +// else if(bytes_recv > 2*SAVE_EVERY_BYTES) +// { +// goto finished; +// } + /* sleep, not to block everybody else */ + usleep(1000); + } + +//finished: +// +// /* at the moment we should not end here */ +// fclose(logfile); +// printf("[sdlog] logfile saved\n"); +// umount(trgt); +// printf("[sdlog] ending...\n"); +// fflush(stdout); + + return 0; +} + +/* is executed when SIGUSR1 is raised (to terminate the app) */ +static void sdlog_sig_handler(int signo, siginfo_t *info, void *ucontext) +{ + sdlog_sigusr1_rcvd = true; +} + + +static void *logbuffer_loop(void *arg) +{ + /* set name for this pthread */ + prctl(PR_SET_NAME, "sdlog logbuffer", getpid()); + + bytes_sent = 0; // count all bytes written to the buffer + + //size_t block_length = sizeof(global_data_sensors_raw_t) - 4*sizeof(access_conf_t); + size_t first_block_length; + size_t second_block_length; + buffer_bytes_used = 0; + + log_block_t log_block = {.check = {'$', '$', '$', '$'}}; + + size_t block_length = sizeof(log_block_t); +// printf("Block length is: %u",(uint16_t)block_length); + +// uint16_t test_counter = 0; + + /* start copying data to buffer */ + while (1) { + copy_block(&log_block); + + /* no more free space in buffer */ + if (buffer_bytes_used + (uint16_t)block_length > BUFFER_BYTES) { + printf("[sdlog] buf full, skipping\n"); + } + + /* data needs to be wrapped around ringbuffer*/ + else if (buffer_cursor_end + block_length >= buffer_end) { + /* first block length is from cursor until the end of the buffer */ + first_block_length = (size_t)(buffer_end - buffer_cursor_end); + /* second block length is the rest */ + second_block_length = block_length - first_block_length; + /* copy the data, not the pointer conversion */ + memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), first_block_length); + memcpy(buffer_start, ((uint8_t *) & (log_block)) + first_block_length, second_block_length); + /* set the end position of the cursor */ + buffer_cursor_end = buffer_start + second_block_length; + /* increase the amount stored in the buffer */ + buffer_bytes_used += block_length; + bytes_sent += block_length; + } + + /* data does not need to be wrapped around */ + else { + /* copy the whole block in one step */ + memcpy(buffer_cursor_end, ((uint8_t *) & (log_block)), block_length); + /* set the cursor to 0 of the buffer instead of the end */ + buffer_cursor_end = buffer_start + (buffer_cursor_end - buffer_start + block_length) % BUFFER_BYTES; + /* increase the amount stored in the buffer */ + buffer_bytes_used += block_length; + bytes_sent += block_length; + } + + /* also end the pthread when we receive a SIGUSR1 */ + if (sdlog_sigusr1_rcvd == true) { + break; + } + } + + return NULL; +} |