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Diffstat (limited to 'src/modules/sdlog/sdlog.c')
| -rw-r--r-- | src/modules/sdlog/sdlog.c | 840 |
1 files changed, 0 insertions, 840 deletions
diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c deleted file mode 100644 index c22523bf2..000000000 --- a/src/modules/sdlog/sdlog.c +++ /dev/null @@ -1,840 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * 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 PX4 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. - * - ****************************************************************************/ - -/** - * @file sdlog.c - * @author Lorenz Meier <lm@inf.ethz.ch> - * - * 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> -#include <stdio.h> -#include <poll.h> -#include <stdlib.h> -#include <string.h> -#include <ctype.h> -#include <systemlib/err.h> -#include <unistd.h> -#include <drivers/drv_hrt.h> - -#include <uORB/uORB.h> -#include <uORB/topics/sensor_combined.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <uORB/topics/vehicle_command.h> -#include <uORB/topics/vehicle_local_position.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/optical_flow.h> -#include <uORB/topics/battery_status.h> -#include <uORB/topics/differential_pressure.h> -#include <uORB/topics/airspeed.h> - -#include <systemlib/systemlib.h> - -#include <mavlink/mavlink_log.h> - -#include "sdlog_ringbuffer.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ - -static const char *mountpoint = "/fs/microsd"; -static const char *mfile_in = "/etc/logging/logconv.m"; -int sysvector_file = -1; -int mavlink_fd = -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 - */ -static void *sdlog_sysvector_write_thread(void *arg); - -/** - * Create the thread to write the system vector - */ -pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf); - -/** - * SD log management function. - */ -__EXPORT int sdlog_main(int argc, char *argv[]); - -/** - * Mainloop of sd log deamon. - */ -int sdlog_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static int file_exist(const char *filename); - -static int file_copy(const char *file_old, const char *file_new); - -static void handle_command(struct vehicle_command_s *cmd); - -/** - * Print the current status. - */ -static void print_sdlog_status(void); - -/** - * Create folder for current logging session. - */ -static int create_logfolder(char *folder_path); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n"); -} - -// XXX turn this into a C++ class -unsigned sensor_combined_bytes = 0; -unsigned actuator_outputs_bytes = 0; -unsigned actuator_controls_bytes = 0; -unsigned sysvector_bytes = 0; -unsigned blackbox_file_bytes = 0; -uint64_t starttime = 0; - -/* logging on or off, default to true */ -bool logging_enabled = true; - -/** - * The sd log deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_spawn_cmd(). - */ -int sdlog_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("sdlog already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("sdlog", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 4096, - sdlog_thread_main, - (const char **)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (!thread_running) { - printf("\tsdlog is not started\n"); - } - - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - print_sdlog_status(); - - } else { - printf("\tsdlog not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int create_logfolder(char *folder_path) -{ - /* 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/sensorfile0001.txt */ - sprintf(folder_path, "%s/session%04u", mountpoint, 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, success */ - - /* now copy the Matlab/Octave file */ - 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) { - /* folder exists already */ - foldernumber++; - continue; - - } else { - warn("failed creating new folder"); - 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 */ - warn("all %d possible folders exist already", MAX_NO_LOGFOLDER); - return -1; - } - - return 0; -} - - -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; - struct sdlog_sysvector sysvect; - memset(&sysvect, 0, sizeof(sysvect)); - - while (!thread_should_exit) { - - /* 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)); - } - - if (poll_count % 100 == 0) { - fsync(sysvector_file); - } - - poll_count++; - } - - fsync(sysvector_file); - - return OK; -} - -pthread_t -sysvector_write_start(struct sdlog_logbuffer *logbuf) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - /* low priority, as this is expensive disk I/O */ - param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - 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 -} - - -int sdlog_thread_main(int argc, char *argv[]) -{ - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* log every n'th value (skip three per default) */ - int skip_value = 3; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - int ch; - - while ((ch = getopt(argc, argv, "s:r")) != EOF) { - switch (ch) { - case 's': - { - /* log only every n'th (gyro clocked) value */ - unsigned s = strtoul(optarg, NULL, 10); - - if (s < 1 || s > 250) { - errx(1, "Wrong skip value of %d, out of range (1..250)\n", s); - } else { - skip_value = s; - } - } - break; - - case 'r': - /* log only on request, disable logging per default */ - logging_enabled = false; - break; - - case '?': - if (optopt == 'c') { - warnx("Option -%c requires an argument.\n", optopt); - } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.\n", optopt); - } else { - warnx("Unknown option character `\\x%x'.\n", optopt); - } - - default: - usage("unrecognized flag"); - errx(1, "exiting."); - } - } - - if (file_exist(mountpoint) != OK) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } - - char folder_path[64]; - - if (create_logfolder(folder_path)) - errx(1, "unable to create logging folder, exiting."); - - FILE *gpsfile; - FILE *blackbox_file; - - /* string to hold the path to the sensorfile */ - char path_buf[64] = ""; - - /* only print logging path, important to find log file later */ - warnx("logging to directory %s\n", folder_path); - - /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */ - sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector"); - - if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) { - errx(1, "opening %s failed.\n", path_buf); - } - - /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "gps"); - - if (NULL == (gpsfile = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - int gpsfile_no = fileno(gpsfile); - - /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox"); - - if (NULL == (blackbox_file = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - // XXX for fsync() calls - int blackbox_file_no = fileno(blackbox_file); - - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - - - struct { - struct sensor_combined_s raw; - struct vehicle_attitude_s att; - struct vehicle_attitude_setpoint_s att_sp; - struct actuator_outputs_s act_outputs; - struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; - struct vehicle_command_s cmd; - struct vehicle_local_position_s local_pos; - struct vehicle_global_position_s global_pos; - struct vehicle_gps_position_s gps_pos; - struct vehicle_vicon_position_s vicon_pos; - struct optical_flow_s flow; - struct battery_status_s batt; - struct differential_pressure_s diff_pres; - struct airspeed_s airspeed; - } buf; - memset(&buf, 0, sizeof(buf)); - - struct { - int cmd_sub; - int sensor_sub; - int att_sub; - int spa_sub; - int act_0_sub; - int controls_0_sub; - int controls_effective_0_sub; - int local_pos_sub; - int global_pos_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int batt_sub; - int diff_pres_sub; - int airspeed_sub; - } subs; - - /* --- MANAGEMENT - LOGGING COMMAND --- */ - /* subscribe to ORB for vehicle command */ - subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ - /* subscribe to ORB for global position */ - subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS RAW VALUE --- */ - /* subscribe to ORB for sensors raw */ - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - /* do not rate limit, instead use skip counter (aliasing on rate limit) */ - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE VALUE --- */ - /* subscribe to ORB for attitude */ - subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT VALUE --- */ - /* subscribe to ORB for attitude setpoint */ - /* struct already allocated */ - subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.spa_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /** --- ACTUATOR OUTPUTS --- */ - subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - fds[fdsc_count].fd = subs.act_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.controls_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.controls_effective_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ - /* subscribe to ORB for local position */ - subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ - /* subscribe to ORB for global position */ - subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ - /* subscribe to ORB for vicon position */ - subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- FLOW measurements --- */ - /* subscribe to ORB for flow measurements */ - subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY STATUS --- */ - /* subscribe to ORB for flow measurements */ - subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.batt_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- DIFFERENTIAL PRESSURE --- */ - /* subscribe to ORB for flow measurements */ - subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pres_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- AIRSPEED --- */ - /* subscribe to ORB for 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. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); - fdsc_count = fdsc; - } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - // const int timeout = 1000; - - thread_running = true; - - /* 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(); - - /* track skipping */ - int skip_count = 0; - - while (!thread_should_exit) { - - /* only poll for commands, gps and sensor_combined */ - int poll_ret = poll(fds, 3, 1000); - - /* 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 { - - int ifds = 0; - - /* --- VEHICLE COMMAND VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy command into local buffer */ - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - - /* always log to blackbox, even when logging disabled */ - blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d, - buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4, - (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7); - - handle_command(&buf.cmd); - } - - /* --- VEHICLE GPS VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy gps position into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - - /* if logging disabled, continue */ - if (logging_enabled) { - - /* write KML line */ - } - } - - /* --- SENSORS RAW VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - - // /* copy sensors raw data into local buffer */ - // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - // /* write out */ - // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw)); - - /* 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); - 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_pres_sub, &buf.diff_pres); - orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); - orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); - - /* if skipping is on or logging is disabled, ignore */ - if (skip_count < skip_value || !logging_enabled) { - skip_count++; - /* do not log data */ - continue; - } else { - /* log data, reset */ - skip_count = 0; - } - - 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], buf.raw.adc_voltage_v[3]}, - .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_pres.differential_pressure_pa, - .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, - .true_airspeed = buf.airspeed.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 */ - if ((unsigned)lb.count > (lb.size / 2)) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&sysvector_cond); - } - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&sysvector_mutex); - } - - } - - } - - print_sdlog_status(); - - /* wake up write thread one last time */ - pthread_mutex_lock(&sysvector_mutex); - pthread_cond_signal(&sysvector_cond); - /* unlock, now the writer thread may return */ - pthread_mutex_unlock(&sysvector_mutex); - - /* 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\n"); - - /* finish KML file */ - // XXX - fclose(gpsfile); - fclose(blackbox_file); - - thread_running = false; - - return 0; -} - -void print_sdlog_status() -{ - unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; - float mebibytes = bytes / 1024.0f / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f; - - warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds)); -} - -/** - * @return 0 if file exists - */ -int file_exist(const char *filename) -{ - struct stat buffer; - return stat(filename, &buffer); -} - -int file_copy(const char *file_old, const char *file_new) -{ - FILE *source, *target; - source = fopen(file_old, "r"); - int ret = 0; - - if (source == NULL) { - warnx("failed opening input file to copy"); - return 1; - } - - target = fopen(file_new, "w"); - - if (target == NULL) { - fclose(source); - warnx("failed to open output file to copy"); - return 1; - } - - char buf[128]; - int nread; - - while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) { - int ret = fwrite(buf, 1, nread, target); - - if (ret <= 0) { - warnx("error writing file"); - ret = 1; - break; - } - } - - fsync(fileno(target)); - - fclose(source); - fclose(target); - - return ret; -} - -void handle_command(struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* request to set different system mode */ - switch (cmd->command) { - - case VEHICLE_CMD_PREFLIGHT_STORAGE: - - if (((int)(cmd->param3)) == 1) { - - /* enable logging */ - mavlink_log_info(mavlink_fd, "[log] file:"); - mavlink_log_info(mavlink_fd, "logdir"); - logging_enabled = true; - } - if (((int)(cmd->param3)) == 0) { - - /* disable logging */ - mavlink_log_info(mavlink_fd, "[log] stopped."); - logging_enabled = false; - } - break; - - default: - /* silently ignore */ - break; - } - -} |