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-rw-r--r--src/modules/sdlog2/sdlog2.c113
-rw-r--r--src/modules/sdlog2/sdlog2_messages.h30
-rw-r--r--src/modules/systemlib/perf_counter.c16
-rw-r--r--src/modules/systemlib/perf_counter.h14
-rw-r--r--src/systemcmds/perf/perf.c2
-rw-r--r--src/systemcmds/tests/tests_main.c2
6 files changed, 146 insertions, 31 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 70ce76806..fa3e86e7f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -89,6 +89,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
#include <version/version.h>
#include <mavlink/mavlink_log.h>
@@ -218,6 +219,8 @@ static int create_log_dir(void);
*/
static int open_log_file(void);
+static int open_perf_file(const char* str);
+
static void
sdlog2_usage(const char *reason)
{
@@ -349,8 +352,8 @@ int create_log_dir()
int open_log_file()
{
/* string to hold the path to the log */
- char log_file_name[16] = "";
- char log_file_path[48] = "";
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
if (log_name_timestamp && gps_time != 0) {
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
@@ -378,7 +381,7 @@ 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 */
- warnx("all %d possible files exist already", MAX_NO_LOGFILE);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
@@ -387,7 +390,58 @@ int open_log_file()
if (fd < 0) {
warn("failed opening log: %s", log_file_name);
- mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+ mavlink_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);
+ }
+
+ return fd;
+}
+
+int open_perf_file(const char* str)
+{
+ /* string to hold the path to the log */
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
+
+ if (log_name_timestamp && gps_time != 0) {
+ /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+ time_t gps_time_sec = gps_time / 1000000;
+ struct tm t;
+ gmtime_r(&gps_time_sec, &t);
+ strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ } else {
+ unsigned file_number = 1; // start with file log001
+
+ /* look for the next file that does not exist */
+ while (file_number <= MAX_NO_LOGFILE) {
+ /* format log file path: e.g. /fs/microsd/sess001/log001.bin */
+ snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ if (!file_exist(log_file_path)) {
+ break;
+ }
+
+ file_number++;
+ }
+
+ 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);
+ return -1;
+ }
+ }
+
+ 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);
} else {
warnx("log file: %s", log_file_name);
@@ -529,6 +583,12 @@ void sdlog2_start_log()
errx(1, "error creating logwriter thread");
}
+ /* write all performance counters */
+ int perf_fd = open_perf_file("preflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
logging_enabled = true;
}
@@ -556,6 +616,12 @@ void sdlog2_stop_log()
logwriter_pthread = 0;
pthread_attr_destroy(&logwriter_attr);
+ /* write all performance counters */
+ int perf_fd = open_perf_file("postflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
sdlog2_status();
}
@@ -834,8 +900,10 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
- struct log_GSN0_s log_GSN0;
- struct log_GSN1_s log_GSN1;
+ struct log_GS0A_s log_GS0A;
+ struct log_GS0B_s log_GS0B;
+ struct log_GS1A_s log_GS1A;
+ struct log_GS1B_s log_GS1B;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -969,7 +1037,7 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
- /* --- GPS POSITION --- */
+ /* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
@@ -986,16 +1054,33 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GPS);
/* log the SNR of each satellite for a detailed view of signal quality */
- log_msg.msg_type = LOG_GSN0_MSG;
- /* pick the smaller number so we do not overflow any of the arrays */
unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
- unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
- unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
+ unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
+
+ log_msg.msg_type = LOG_GS0A_MSG;
+ memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
+ /* fill set A */
+ unsigned max_sats_a = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
- for (unsigned i = 0; i < sat_max_snr; i++) {
- log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
+ for (unsigned i = 0; i < max_sats_a; i++) {
+ log_msg.body.log_GS0A.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
+ }
+ LOGBUFFER_WRITE_AND_COUNT(GS0A);
+
+ /* do we need a 2nd set? */
+ if (gps_msg_max_snr > log_max_snr) {
+ log_msg.msg_type = LOG_GS0B_MSG;
+ memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
+ /* fill set B - deduct the count we already have taken care of */
+ gps_msg_max_snr -= log_max_snr;
+ unsigned max_sats_b = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
+
+ for (unsigned i = 0; i < max_sats_b; i++) {
+ /* count from zero, but obey offset of log_max_snr consumed units */
+ log_msg.body.log_GS0B.satellite_snr[i] = buf_gps_pos.satellite_snr[log_max_snr + i];
+ }
+ LOGBUFFER_WRITE_AND_COUNT(GS0B);
}
- LOGBUFFER_WRITE_AND_COUNT(GSN0);
}
/* --- SENSOR COMBINED --- */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 90025b9ff..85ef4da39 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -318,15 +318,27 @@ struct log_VICN_s {
float yaw;
};
-/* --- GSN0 - GPS SNR #0 --- */
-#define LOG_GSN0_MSG 26
-struct log_GSN0_s {
+/* --- GS0A - GPS SNR #0, SAT GROUP A --- */
+#define LOG_GS0A_MSG 26
+struct log_GS0A_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
-/* --- GSN1 - GPS SNR #1 --- */
-#define LOG_GSN1_MSG 27
-struct log_GSN1_s {
+/* --- GS0B - GPS SNR #0, SAT GROUP B --- */
+#define LOG_GS0B_MSG 27
+struct log_GS0B_s {
+ uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
+};
+
+/* --- GS1A - GPS SNR #1, SAT GROUP A --- */
+#define LOG_GS1A_MSG 28
+struct log_GS1A_s {
+ uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
+};
+
+/* --- GS1B - GPS SNR #1, SAT GROUP B --- */
+#define LOG_GS1B_MSG 29
+struct log_GS1B_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
@@ -381,8 +393,10 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
- LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
- LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+ LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index b4ca0ed3e..22182e39e 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -282,12 +282,18 @@ perf_reset(perf_counter_t handle)
void
perf_print_counter(perf_counter_t handle)
{
+ perf_print_counter_fd(0, handle);
+}
+
+void
+perf_print_counter_fd(int fd, perf_counter_t handle)
+{
if (handle == NULL)
return;
switch (handle->type) {
case PC_COUNT:
- printf("%s: %llu events\n",
+ dprintf(fd, "%s: %llu events\n",
handle->name,
((struct perf_ctr_count *)handle)->event_count);
break;
@@ -295,7 +301,7 @@ perf_print_counter(perf_counter_t handle)
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
- printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
handle->name,
pce->event_count,
pce->time_total,
@@ -308,7 +314,7 @@ perf_print_counter(perf_counter_t handle)
case PC_INTERVAL: {
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
- printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %llu avg, min %lluus max %lluus\n",
handle->name,
pci->event_count,
(pci->time_last - pci->time_first) / pci->event_count,
@@ -349,12 +355,12 @@ perf_event_count(perf_counter_t handle)
}
void
-perf_print_all(void)
+perf_print_all(int fd)
{
perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
while (handle != NULL) {
- perf_print_counter(handle);
+ perf_print_counter_fd(fd, handle);
handle = (perf_counter_t)sq_next(&handle->link);
}
}
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index d8f69fdbf..6835ee4a2 100644
--- a/src/modules/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
@@ -121,16 +121,26 @@ __EXPORT extern void perf_cancel(perf_counter_t handle);
__EXPORT extern void perf_reset(perf_counter_t handle);
/**
- * Print one performance counter.
+ * Print one performance counter to stdout
*
* @param handle The counter to print.
*/
__EXPORT extern void perf_print_counter(perf_counter_t handle);
/**
+ * Print one performance counter to a fd.
+ *
+ * @param fd File descriptor to print to - e.g. 0 for stdout
+ * @param handle The counter to print.
+ */
+__EXPORT extern void perf_print_counter_fd(int fd, perf_counter_t handle);
+
+/**
* Print all of the performance counters.
+ *
+ * @param fd File descriptor to print to - e.g. 0 for stdout
*/
-__EXPORT extern void perf_print_all(void);
+__EXPORT extern void perf_print_all(int fd);
/**
* Reset all of the performance counters.
diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index b69ea597b..b08a2e3b7 100644
--- a/src/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -73,7 +73,7 @@ int perf_main(int argc, char *argv[])
return -1;
}
- perf_print_all();
+ perf_print_all(0 /* stdout */);
fflush(stdout);
return 0;
}
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index fe22f6177..e3f26924f 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -235,7 +235,7 @@ test_perf(int argc, char *argv[])
printf("perf: expect count of 1\n");
perf_print_counter(ec);
printf("perf: expect at least two counters\n");
- perf_print_all();
+ perf_print_all(0);
perf_free(cc);
perf_free(ec);
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-19 09:01:42 +0000