From eb5af244b9281e8d654d5f87feedde3e652b5fc5 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 12 Jul 2013 21:57:46 +0400 Subject: sdlog2: GVSP (global velocity setpoint) message added, cleanup --- src/modules/sdlog2/sdlog2.c | 70 ++++++++++++++++-------------------- src/modules/sdlog2/sdlog2_messages.h | 9 +++++ 2 files changed, 40 insertions(+), 39 deletions(-) (limited to 'src') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ec1b7628d..6641d88f3 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -75,6 +75,7 @@ #include #include #include +#include #include #include #include @@ -94,7 +95,6 @@ log_msgs_written++; \ } else { \ log_msgs_skipped++; \ - /*printf("skip\n");*/ \ } #define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \ @@ -102,9 +102,6 @@ fds[fdsc_count].events = POLLIN; \ fdsc_count++; - -//#define SDLOG2_DEBUG - static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -233,7 +230,7 @@ int sdlog2_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("sdlog2 already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } @@ -250,7 +247,7 @@ int sdlog2_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { if (!thread_running) { - printf("\tsdlog2 is not started\n"); + warnx("not started"); } main_thread_should_exit = true; @@ -262,7 +259,7 @@ int sdlog2_main(int argc, char *argv[]) sdlog2_status(); } else { - printf("\tsdlog2 not started\n"); + warnx("not started\n"); } exit(0); @@ -387,11 +384,6 @@ static void *logwriter_thread(void *arg) /* only get pointer to thread-safe data, do heavy I/O a few lines down */ int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); -#ifdef SDLOG2_DEBUG - int rp = logbuf->read_ptr; - int wp = logbuf->write_ptr; -#endif - /* continue */ pthread_mutex_unlock(&logbuffer_mutex); @@ -407,9 +399,6 @@ static void *logwriter_thread(void *arg) n = write(log_file, read_ptr, n); should_wait = (n == available) && !is_part; -#ifdef SDLOG2_DEBUG - printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait); -#endif if (n < 0) { main_thread_should_exit = true; @@ -422,14 +411,8 @@ static void *logwriter_thread(void *arg) } else { n = 0; -#ifdef SDLOG2_DEBUG - printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit); -#endif /* exit only with empty buffer */ if (main_thread_should_exit || logwriter_should_exit) { -#ifdef SDLOG2_DEBUG - printf("break logwriter thread\n"); -#endif break; } should_wait = true; @@ -444,10 +427,6 @@ static void *logwriter_thread(void *arg) fsync(log_file); close(log_file); -#ifdef SDLOG2_DEBUG - printf("logwriter thread exit\n"); -#endif - return OK; } @@ -614,14 +593,6 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "can't allocate log buffer, exiting."); } - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 19; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - struct vehicle_status_s buf_status; memset(&buf_status, 0, sizeof(buf_status)); @@ -646,6 +617,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct differential_pressure_s diff_pres; struct airspeed_s airspeed; struct esc_status_s esc; + struct vehicle_global_velocity_setpoint_s global_vel_sp; } buf; memset(&buf, 0, sizeof(buf)); @@ -669,6 +641,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int rc_sub; int airspeed_sub; int esc_sub; + int global_vel_sp_sub; } subs; /* log message buffer: header + body */ @@ -694,6 +667,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GPOS_s log_GPOS; struct log_GPSP_s log_GPSP; struct log_ESC_s log_ESC; + struct log_GVSP_s log_GVSP; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -701,6 +675,14 @@ int sdlog2_thread_main(int argc, char *argv[]) #pragma pack(pop) memset(&log_msg.body, 0, sizeof(log_msg.body)); + /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ + /* number of messages */ + const ssize_t fdsc = 20; + /* Sanity check variable and index */ + ssize_t fdsc_count = 0; + /* file descriptors to wait for */ + struct pollfd fds[fdsc]; + /* --- VEHICLE COMMAND --- */ subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); fds[fdsc_count].fd = subs.cmd_sub; @@ -815,6 +797,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- GLOBAL VELOCITY SETPOINT --- */ + subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); + fds[fdsc_count].fd = subs.global_vel_sp_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. @@ -1166,14 +1154,18 @@ int sdlog2_thread_main(int argc, char *argv[]) } } -#ifdef SDLOG2_DEBUG - printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); -#endif + /* --- GLOBAL VELOCITY SETPOINT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp); + log_msg.msg_type = LOG_GVSP_MSG; + log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; + log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; + log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; + LOGBUFFER_WRITE_AND_COUNT(GVSP); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { -#ifdef SDLOG2_DEBUG - printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); -#endif /* only request write if several packets can be written at once */ pthread_cond_signal(&logbuffer_cond); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 0e479b524..06e640b5b 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -244,6 +244,14 @@ struct log_ESC_s { uint16_t esc_setpoint_raw; }; +/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */ +#define LOG_GVSP_MSG 19 +struct log_GVSP_s { + float vx; + float vy; + float vz; +}; + #pragma pack(pop) /* construct list of all message formats */ @@ -267,6 +275,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); -- cgit v1.2.3