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logger: using ModuleParams (#14316)
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and some cleanups on main()
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@BazookaJoe1900
BazookaJoe1900 authored Mar 13, 2020
1 parent 0eca583 commit 5e343b1
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Showing 2 changed files with 64 additions and 93 deletions.
123 changes: 43 additions & 80 deletions src/modules/logger/logger.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -238,8 +238,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
{
uint32_t log_interval = 3500;
int log_buffer_size = 12 * 1024;
bool log_on_start = false;
bool log_until_shutdown = false;
Logger::LogMode log_mode = Logger::LogMode::while_armed;
bool error_flag = false;
bool log_name_timestamp = false;
Expand Down Expand Up @@ -268,7 +266,16 @@ Logger *Logger::instantiate(int argc, char *argv[])
break;

case 'e':
log_on_start = true;
if (log_mode != Logger::LogMode::boot_until_shutdown) {
//setting boot_until_shutdown can't lower mode to boot_until_disarm
log_mode = Logger::LogMode::boot_until_disarm;

}

break;

case 'f':
log_mode = Logger::LogMode::boot_until_shutdown;
break;

case 'b': {
Expand All @@ -286,10 +293,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
log_name_timestamp = true;
break;

case 'f':
log_on_start = true;
log_until_shutdown = true;
break;

case 'm':
if (!strcmp(myoptarg, "file")) {
Expand Down Expand Up @@ -323,15 +326,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
}
}

if (log_on_start) {
if (log_until_shutdown) {
log_mode = Logger::LogMode::boot_until_shutdown;

} else {
log_mode = Logger::LogMode::boot_until_disarm;
}
}

if (error_flag) {
return nullptr;
}
Expand Down Expand Up @@ -363,20 +357,14 @@ Logger *Logger::instantiate(int argc, char *argv[])
return logger;
}


Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
LogMode log_mode, bool log_name_timestamp) :
ModuleParams(nullptr),
_log_mode(log_mode),
_log_name_timestamp(log_name_timestamp),
_writer(backend, buffer_size),
_log_interval(log_interval)
{
_log_utc_offset = param_find("SDLOG_UTC_OFFSET");
_log_dirs_max = param_find("SDLOG_DIRS_MAX");
_sdlog_profile_handle = param_find("SDLOG_PROFILE");
_mission_log = param_find("SDLOG_MISSION");
_boot_bat_only = param_find("SDLOG_BOOT_BAT");

if (poll_topic_name) {
const orb_metadata *const *topics = orb_get_topics();

Expand All @@ -403,6 +391,19 @@ Logger::~Logger()
delete[](_subscriptions);
}

void Logger::update_params()
{
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);

// update parameters from storage
ModuleParams::updateParams();
}
}

bool Logger::request_stop_static()
{
if (is_running()) {
Expand Down Expand Up @@ -451,14 +452,10 @@ const char *Logger::configured_backend_mode() const
}
}

bool Logger::initialize_topics(MissionLogType mission_log_mode)
bool Logger::initialize_topics()
{
// get the logging profile
SDLogProfileMask sdlog_profile = SDLogProfileMask::DEFAULT;

if (_sdlog_profile_handle != PARAM_INVALID) {
param_get(_sdlog_profile_handle, (int32_t *)&sdlog_profile);
}
SDLogProfileMask sdlog_profile = (SDLogProfileMask)_param_sdlog_profile.get();

if ((int32_t)sdlog_profile == 0) {
PX4_WARN("No logging profile selected. Using default set");
Expand All @@ -468,7 +465,7 @@ bool Logger::initialize_topics(MissionLogType mission_log_mode)
LoggedTopics logged_topics;

// initialize mission topics
logged_topics.initialize_mission_topics(mission_log_mode);
logged_topics.initialize_mission_topics((MissionLogType)_param_sdlog_mission.get());
_num_mission_subs = logged_topics.numMissionSubscriptions();

if (_num_mission_subs > 0) {
Expand Down Expand Up @@ -534,27 +531,15 @@ void Logger::run()
}
}

int32_t max_log_dirs_to_keep = 0;

if (_log_dirs_max != PARAM_INVALID) {
param_get(_log_dirs_max, &max_log_dirs_to_keep);
}

if (util::check_free_space(LOG_ROOT[(int)LogType::Full], max_log_dirs_to_keep, _mavlink_log_pub,
if (util::check_free_space(LOG_ROOT[(int)LogType::Full], _param_sdlog_dirs_max.get(), _mavlink_log_pub,
_file_name[(int)LogType::Full].sess_dir_index) == 1) {
return;
}
}

uORB::Subscription parameter_update_sub(ORB_ID(parameter_update));

int32_t mission_log_mode = 0;

if (_mission_log != PARAM_INVALID) {
param_get(_mission_log, &mission_log_mode);
}

if (!initialize_topics((MissionLogType)mission_log_mode)) {
if (!initialize_topics()) {
return;
}

Expand Down Expand Up @@ -646,9 +631,8 @@ void Logger::run()
int next_subscribe_topic_index = -1; // this is used to distribute the checks over time

while (!should_exit()) {

// Start/stop logging (depending on logging mode, by default when arming/disarming)
const bool logging_started = start_stop_logging((MissionLogType)mission_log_mode);
const bool logging_started = start_stop_logging();

if (logging_started) {
#ifdef DBGPRINT
Expand Down Expand Up @@ -868,6 +852,8 @@ void Logger::run()
}
}

update_params();

// wait for next loop iteration...
if (polling_topic_sub >= 0) {
px4_pollfd_struct_t fds[1];
Expand Down Expand Up @@ -941,13 +927,7 @@ void Logger::debug_print_buffer(uint32_t &total_bytes, hrt_abstime &timer_start)

bool Logger::get_disable_boot_logging()
{
int32_t boot_logging_bat_only = 0;

if (_boot_bat_only != PARAM_INVALID) {
param_get(_boot_bat_only, &boot_logging_bat_only);
}

if (boot_logging_bat_only) {
if (_param_sdlog_boot_bat.get()) {
battery_status_s battery_status;
uORB::Subscription battery_status_sub{ORB_ID(battery_status)};

Expand All @@ -964,7 +944,7 @@ bool Logger::get_disable_boot_logging()
return false;
}

bool Logger::start_stop_logging(MissionLogType mission_log_type)
bool Logger::start_stop_logging()
{
bool updated = false;
bool desired_state = false;
Expand Down Expand Up @@ -1004,7 +984,7 @@ bool Logger::start_stop_logging(MissionLogType mission_log_type)

start_log_file(LogType::Full);

if (mission_log_type != MissionLogType::Disabled) {
if ((MissionLogType)_param_sdlog_mission.get() != MissionLogType::Disabled) {
start_log_file(LogType::Mission);
}

Expand All @@ -1015,7 +995,7 @@ bool Logger::start_stop_logging(MissionLogType mission_log_type)
initialize_load_output(PrintLoadReason::Postflight);
_should_stop_file_log = true;

if (mission_log_type != MissionLogType::Disabled) {
if ((MissionLogType)_param_sdlog_mission.get() != MissionLogType::Disabled) {
stop_log_file(LogType::Mission);
}
}
Expand Down Expand Up @@ -1145,14 +1125,8 @@ int Logger::get_log_file_name(LogType type, char *file_name, size_t file_name_si
bool time_ok = false;

if (_log_name_timestamp) {
int32_t utc_offset = 0;

if (_log_utc_offset != PARAM_INVALID) {
param_get(_log_utc_offset, &utc_offset);
}

/* use RTC time for log file naming, e.g. /fs/microsd/log/2014-01-19/19_37_52.ulg */
time_ok = util::get_log_time(&tt, utc_offset * 60, false);
time_ok = util::get_log_time(&tt, _param_sdlog_utc_offset.get() * 60, false);
}

const char *replay_suffix = "";
Expand Down Expand Up @@ -1789,28 +1763,17 @@ void Logger::write_version(LogType type)
}

#ifndef BOARD_HAS_NO_UUID
/* write the UUID if enabled */
param_t write_uuid_param = param_find("SDLOG_UUID");

if (write_uuid_param != PARAM_INVALID) {
int32_t write_uuid;
param_get(write_uuid_param, &write_uuid);

if (write_uuid == 1) {
char px4_uuid_string[PX4_GUID_FORMAT_SIZE];
board_get_px4_guid_formated(px4_uuid_string, sizeof(px4_uuid_string));
write_info(type, "sys_uuid", px4_uuid_string);
}
/* write the UUID if enabled */
if (_param_sdlog_uuid.get() == 1) {
char px4_uuid_string[PX4_GUID_FORMAT_SIZE];
board_get_px4_guid_formated(px4_uuid_string, sizeof(px4_uuid_string));
write_info(type, "sys_uuid", px4_uuid_string);
}

#endif /* BOARD_HAS_NO_UUID */

int32_t utc_offset = 0;

if (_log_utc_offset != PARAM_INVALID) {
param_get(_log_utc_offset, &utc_offset);
write_info(type, "time_ref_utc", utc_offset * 60);
}
write_info(type, "time_ref_utc", _param_sdlog_utc_offset.get() * 60);

if (_replay_file_name) {
write_info(type, "replay", _replay_file_name);
Expand Down
34 changes: 21 additions & 13 deletions src/modules/logger/logger.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <parameters/param.h>
#include <systemlib/printload.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>

#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
Expand All @@ -52,6 +53,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>

extern "C" __EXPORT int logger_main(int argc, char *argv[]);

Expand All @@ -76,7 +78,7 @@ struct LoggerSubscription : public uORB::SubscriptionInterval {
{}
};

class Logger : public ModuleBase<Logger>
class Logger : public ModuleBase<Logger>, public ModuleParams
{
public:
enum class LogMode {
Expand Down Expand Up @@ -161,6 +163,11 @@ class Logger : public ModuleBase<Logger>
unsigned next_write_time{0}; ///< next time to write in 0.1 seconds
};

/**
* @brief Updates and checks for updated uORB parameters.
*/
void update_params();

/**
* Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances
*/
Expand Down Expand Up @@ -267,7 +274,7 @@ class Logger : public ModuleBase<Logger>
* This must be called before start_log() (because it does not write an ADD_LOGGED_MSG message).
* @return true on success
*/
bool initialize_topics(MissionLogType mission_log_mode);
bool initialize_topics();

/**
* Determines if log-from-boot should be disabled, based on the value of SDLOG_BOOT_BAT and the battery status.
Expand All @@ -278,12 +285,9 @@ class Logger : public ModuleBase<Logger>
/**
* check current arming state or aux channel and start/stop logging if state changed and according to
* configured params.
* @param vehicle_status_sub
* @param manual_control_sp_sub
* @param mission_log_type
* @return true if log started
*/
bool start_stop_logging(MissionLogType mission_log_type);
bool start_stop_logging();

void handle_vehicle_command_update();
void ack_vehicle_command(vehicle_command_s *cmd, uint32_t result);
Expand Down Expand Up @@ -346,13 +350,17 @@ class Logger : public ModuleBase<Logger>
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::SubscriptionInterval _log_message_sub{ORB_ID(log_message), 20};

param_t _sdlog_profile_handle{PARAM_INVALID};
param_t _log_utc_offset{PARAM_INVALID};
param_t _log_dirs_max{PARAM_INVALID};
param_t _mission_log{PARAM_INVALID};
param_t _boot_bat_only{PARAM_INVALID};
uORB::SubscriptionInterval _log_message_sub{ORB_ID(log_message), 20};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

DEFINE_PARAMETERS(
(ParamInt<px4::params::SDLOG_UTC_OFFSET>) _param_sdlog_utc_offset,
(ParamInt<px4::params::SDLOG_DIRS_MAX>) _param_sdlog_dirs_max,
(ParamInt<px4::params::SDLOG_PROFILE>) _param_sdlog_profile,
(ParamInt<px4::params::SDLOG_MISSION>) _param_sdlog_mission,
(ParamBool<px4::params::SDLOG_BOOT_BAT>) _param_sdlog_boot_bat,
(ParamBool<px4::params::SDLOG_UUID>) _param_sdlog_uuid
)
};

} //namespace logger
Expand Down

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