logger_file.c

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/*
 * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
 *               2019 Tom van Dijk <tomvand@users.noreply.github.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#include "logger_file.h"
 
#include <stdio.h>
#include <sys/stat.h>
#include <time.h>
#include <unistd.h>
#include "std.h"
 
#include "mcu_periph/sys_time.h"
#include "state.h"
#include "generated/airframe.h"
#ifdef COMMAND_THRUST
#include "firmwares/rotorcraft/stabilization.h"
#else
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/stabilization/stabilization_adaptive.h"
#endif
 
#include "generated/modules.h"
 
#ifndef LOGGER_FILE_PATH
#define LOGGER_FILE_PATH /data/video/usb
#endif
 
static FILE *logger_file = NULL;
 
 
static void logger_file_write_header(FILE *file) {
  fprintf(file, "time,");
  fprintf(file, "pos_x,pos_y,pos_z,");
  fprintf(file, "vel_x,vel_y,vel_z,");
  fprintf(file, "att_phi,att_theta,att_psi,");
  fprintf(file, "rate_p,rate_q,rate_r,");
#ifdef BOARD_BEBOP
  fprintf(file, "rpm_obs_1,rpm_obs_2,rpm_obs_3,rpm_obs_4,");
  fprintf(file, "rpm_ref_1,rpm_ref_2,rpm_ref_3,rpm_ref_4,");
#endif
#ifdef INS_EXT_POSE_H
  ins_ext_pos_log_header(file);
#endif
#ifdef COMMAND_THRUST
  fprintf(file, "cmd_thrust,cmd_roll,cmd_pitch,cmd_yaw\n");
#else
  fprintf(file, "h_ctl_aileron_setpoint,h_ctl_elevator_setpoint\n");
#endif
}
 
static void logger_file_write_row(FILE *file) {
  struct NedCoor_f *pos = stateGetPositionNed_f();
  struct NedCoor_f *vel = stateGetSpeedNed_f();
  struct FloatEulers *att = stateGetNedToBodyEulers_f();
  struct FloatRates *rates = stateGetBodyRates_f();
 
  fprintf(file, "%f,", get_sys_time_float());
  fprintf(file, "%f,%f,%f,", pos->x, pos->y, pos->z);
  fprintf(file, "%f,%f,%f,", vel->x, vel->y, vel->z);
  fprintf(file, "%f,%f,%f,", att->phi, att->theta, att->psi);
  fprintf(file, "%f,%f,%f,", rates->p, rates->q, rates->r);
#ifdef BOARD_BEBOP
  fprintf(file, "%d,%d,%d,%d,",actuators_bebop.rpm_obs[0],actuators_bebop.rpm_obs[1],actuators_bebop.rpm_obs[2],actuators_bebop.rpm_obs[3]);
  fprintf(file, "%d,%d,%d,%d,",actuators_bebop.rpm_ref[0],actuators_bebop.rpm_ref[1],actuators_bebop.rpm_ref[2],actuators_bebop.rpm_ref[3]);
#endif
#ifdef INS_EXT_POSE_H
  ins_ext_pos_log_data(file);
#endif
#ifdef COMMAND_THRUST
  fprintf(file, "%d,%d,%d,%d\n",
      stabilization.cmd[COMMAND_THRUST], stabilization.cmd[COMMAND_ROLL],
      stabilization.cmd[COMMAND_PITCH], stabilization.cmd[COMMAND_YAW]);
#else
  fprintf(file, "%d,%d\n", h_ctl_aileron_setpoint, h_ctl_elevator_setpoint);
#endif
}
 
 
void logger_file_start(void)
{
  // Ensure that the module is running when started with this function
  logger_file_logger_file_periodic_status = MODULES_RUN;
  
  // Create output folder if necessary
  if (access(STRINGIFY(LOGGER_FILE_PATH), F_OK)) {
    char save_dir_cmd[256];
    sprintf(save_dir_cmd, "mkdir -p %s", STRINGIFY(LOGGER_FILE_PATH));
    if (system(save_dir_cmd) != 0) {
      printf("[logger_file] Could not create log file directory %s.\n", STRINGIFY(LOGGER_FILE_PATH));
      return;
    }
  }
 
  // Get current date/time for filename
  char date_time[80];
  time_t now = time(0);
  struct tm  tstruct;
  tstruct = *localtime(&now);
  strftime(date_time, sizeof(date_time), "%Y%m%d-%H%M%S", &tstruct);
 
  uint32_t counter = 0;
  char filename[512];
 
  // Check for available files
  sprintf(filename, "%s/%s.csv", STRINGIFY(LOGGER_FILE_PATH), date_time);
  while ((logger_file = fopen(filename, "r"))) {
    fclose(logger_file);
 
    sprintf(filename, "%s/%s_%05d.csv", STRINGIFY(LOGGER_FILE_PATH), date_time, counter);
    counter++;
  }
 
  logger_file = fopen(filename, "w");
  if(!logger_file) {
    printf("[logger_file] ERROR opening log file %s!\n", filename);
    return;
  }
 
  printf("[logger_file] Start logging to %s...\n", filename);
 
  logger_file_write_header(logger_file);
}
 
void logger_file_stop(void)
{
  if (logger_file != NULL) {
    fclose(logger_file);
    logger_file = NULL;
  }
}
 
void logger_file_periodic(void)
{
  if (logger_file == NULL) {
    return;
  }
  logger_file_write_row(logger_file);
}