SD logger for Linux based autopilots (Bebop, ...) and NPS. More...

#include "modules/loggers/sdlog_chibios.h"
#include "modules/loggers/sdlog_chibios/usbStorage.h"
#include "mcu_periph/sys_time.h"
#include "generated/airframe.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <dirent.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include "modules/datalink/telemetry.h"

Include dependency graph for sdlog_linux.c:

Data Structures
struct	sdlog_msg
	Message under construction, one per thread so threads can't mix messages (the fd argument of the device functions is only used with PPRZLINK_ENABLE_FD). More...

Macros
#define	SDLOG_DIR "/data/ftp/internal_000/sdlog"
	Directory where the logs are stored, the default in simulation is $PAPARAZZI_HOME/var/logs/sdlog/<AIRCRAFT>.
#define	SDLOG_AUTO_FLUSH_PERIOD 10
	Flush period in seconds.
#define	SDLOG_MAX_FILES 4
#define	SDLOG_MAX_MSG_LEN 512
#define	SDLOG_CONF TRUE
	Write the configuration of the firmware next to the logs (PPRZ/<md5>_<aircraft>.conf.gz), so sd2log can decode them without the var/conf of the computer that built the firmware.

Enumerations
enum	{ SDLOG_STOPPED = 0 , SDLOG_RUNNING , SDLOG_ERROR }

Functions
void	usbStorage_enable_usb_storage (float e)
static FILE *	sdlog_file (FileDes fd)
static SdioError	sdlog_errno_error (int err)
	Error of a failed write or close: only a full disk is "SD card full".
static void	sdlog_write (FileDes fd, const uint8_t *data, size_t len)
SdioError	sdLogWriteLog (const FileDes fd, const char *fmt,...)
SdioError	sdLogWriteRaw (const FileDes fd, const uint8_t *buffer, const size_t len)
SdioError	sdLogWriteByte (const FileDes fd, const uint8_t value)
SdioError	sdLogFlushLog (const FileDes fd)
SdioError	sdLogFlushAllLogs (void)
size_t	sdLogGetNbBytesWrittenToStorage (void)
SdioError	sdLogGetStorageStatus (void)
static int	sdlog_check_free_space (struct chibios_sdlog p, long fd, uint16_t len)
static void	sdlog_put_buffer (struct chibios_sdlog p, long fd, const uint8_t data, uint16_t len)
static void	sdlog_put_byte (struct chibios_sdlog *p, long fd, uint8_t byte)
static void	sdlog_send (struct chibios_sdlog *p, long fd)
static int	null_function (struct chibios_sdlog *p)
static uint8_t	null_byte_function (struct chibios_sdlog *p)
void	chibios_sdlog_init (struct chibios_sdlog sdlog, FileDes file)
	init chibios_sdlog structure
static int	sdlog_mkdir (const char *path)
	Create a directory and its parents.
static int	sdlog_next_number (const char dir, const char prefix)
	Remove the empty logs and get the next free log number.
static FileDes	sdlog_open (const char base, const char dir, const char prefix, char name, size_t name_len)
	Open the next log file in base/dir, returns the descriptor or -1.
static void	sdlog_report_status (struct transport_tx trans, struct link_device dev)
	Tell the GCS in words why the logger does not run (no SD card, card full, ...): at the start and every time it goes into error later, and when the configuration could not be written.
static void	send_sdlog_status (struct transport_tx trans, struct link_device dev)
static void	sdlog_atexit (void)
void	sdlog_chibios_init (void)
void	sdlog_chibios_finish (const bool flush)
void	logger_log_msg_up (uint8_t *buf)

Variables
static const char	PPRZ_LOG_NAME [] = "pprzlog_"
static const char	PPRZ_LOG_DIR [] = "PPRZ"
static SdioError	sdlog_conf_error = SDLOG_OK
	Result of writing the configuration, reported to the GCS.
FileDes	pprzLogFile = -1
struct chibios_sdlog	chibios_sdlog
float	usb_storage_status = 0
	Not available on Linux, only there for the settings.
static FILE *	sdlog_files [SDLOG_MAX_FILES]
static size_t	sdlog_bytes = 0
static float	sdlog_last_flush = 0
static enum { ... }	sdlog_status = SDLOG_STOPPED
static SdioError	sdlog_error = SDLOG_OK
static char	sdlog_filenames [68]
static __thread struct sdlog_msg	sdlog_msg

Detailed Description

SD logger for Linux based autopilots (Bebop, ...) and NPS.

Same interface and file layout as the ChibiOS SD logger, so the same modules (flight recorder, high speed IMU logging, ...) can log, and the files can be converted with sd2log: <SDLOG_DIR>/PPRZ/pprzlog_0001.LOG <SDLOG_DIR>/FLIGHT_RECORDER/fr_0001.LOG

Definition in file sdlog_linux.c.

Data Structure Documentation

◆ sdlog_msg

struct sdlog_msg

Message under construction, one per thread so threads can't mix messages (the fd argument of the device functions is only used with PPRZLINK_ENABLE_FD).

Definition at line 107 of file sdlog_linux.c.

Data Fields
uint8_t	buf[SDLOG_MAX_MSG_LEN]
uint16_t	len

Macro Definition Documentation

◆ SDLOG_AUTO_FLUSH_PERIOD

#define SDLOG_AUTO_FLUSH_PERIOD 10

Flush period in seconds.

Definition at line 61 of file sdlog_linux.c.

◆ SDLOG_CONF

#define SDLOG_CONF TRUE

Write the configuration of the firmware next to the logs (PPRZ/<md5>_<aircraft>.conf.gz), so sd2log can decode them without the var/conf of the computer that built the firmware.

Definition at line 74 of file sdlog_linux.c.

◆ SDLOG_DIR

#define SDLOG_DIR "/data/ftp/internal_000/sdlog"

Directory where the logs are stored, the default in simulation is $PAPARAZZI_HOME/var/logs/sdlog/<AIRCRAFT>.

Definition at line 52 of file sdlog_linux.c.

Referenced by sdlog_chibios_init().

◆ SDLOG_MAX_FILES

#define SDLOG_MAX_FILES 4

Definition at line 65 of file sdlog_linux.c.

Referenced by sdlog_chibios_finish(), sdlog_file(), sdlog_open(), and sdLogFlushAllLogs().

◆ SDLOG_MAX_MSG_LEN

#define SDLOG_MAX_MSG_LEN 512

Definition at line 66 of file sdlog_linux.c.

Referenced by sdlog_check_free_space(), sdlog_put_buffer(), and sdLogWriteLog().

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
SDLOG_STOPPED
SDLOG_RUNNING
SDLOG_ERROR

Definition at line 97 of file sdlog_linux.c.

Function Documentation

◆ chibios_sdlog_init()

void chibios_sdlog_init	(	struct chibios_sdlog *	sdlog,
		FileDes *	file )

init chibios_sdlog structure

Definition at line 245 of file sdlog_linux.c.

References chibios_sdlog::device, chibios_sdlog::file, null_byte_function(), null_function(), sdlog_check_free_space(), sdlog_put_buffer(), sdlog_put_byte(), and sdlog_send().

Referenced by sdlog_chibios_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ logger_log_msg_up()

void logger_log_msg_up ( uint8_t * buf )

Definition at line 520 of file sdlog_linux.c.

References DEST_INFO_MSG_ALL, DEST_INFO_MSG_PPRZLOG, fd, msg, pprzLogFile, sdLogWriteByte(), and sdLogWriteRaw().

Here is the call graph for this function:

◆ null_byte_function()

uint8_t null_byte_function ( struct chibios_sdlog * p )

static

Definition at line 243 of file sdlog_linux.c.

References p.

◆ null_function()

int null_function ( struct chibios_sdlog * p )

static

Definition at line 242 of file sdlog_linux.c.

References p.

◆ sdlog_atexit()

void sdlog_atexit ( void )

static

Definition at line 450 of file sdlog_linux.c.

References sdlog_chibios_finish().

Referenced by sdlog_chibios_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sdlog_check_free_space()

int sdlog_check_free_space	(	struct chibios_sdlog *	p,
		long *	fd,
		uint16_t	len )

static

Definition at line 212 of file sdlog_linux.c.

References fd, sdlog_msg::len, p, sdlog_file(), and SDLOG_MAX_MSG_LEN.

Here is the call graph for this function:

◆ sdlog_chibios_finish()

void sdlog_chibios_finish ( const bool flush )

Definition at line 502 of file sdlog_linux.c.

References pprzLogFile, sdlog_files, SDLOG_MAX_FILES, sdlog_status, and SDLOG_STOPPED.

Referenced by sdlog_atexit().

Here is the caller graph for this function:

◆ sdlog_chibios_init()

void sdlog_chibios_init ( void )

Definition at line 455 of file sdlog_linux.c.

References chibios_sdlog_init(), DefaultPeriodic, dir, get_sys_time_float(), PPRZ_LOG_DIR, PPRZ_LOG_NAME, pprzLogFile, preflight_check_register(), register_periodic_telemetry(), sdlog_atexit(), sdlog_conf_error, SDLOG_DIR, SDLOG_ERROR, sdlog_error, sdlog_filenames, sdlog_last_flush, SDLOG_OK, sdlog_open(), SDLOG_RUNNING, sdlog_status, and send_sdlog_status().

Here is the call graph for this function:

◆ sdlog_errno_error()

SdioError sdlog_errno_error ( int err )

static

Error of a failed write or close: only a full disk is "SD card full".

Definition at line 122 of file sdlog_linux.c.

References SDLOG_FATFS_ERROR, and SDLOG_FSFULL.

Referenced by sdlog_write().

Here is the caller graph for this function:

◆ sdlog_file()

FILE * sdlog_file ( FileDes fd )

static

Definition at line 113 of file sdlog_linux.c.

References fd, sdlog_files, and SDLOG_MAX_FILES.

Referenced by sdlog_check_free_space(), sdlog_write(), and sdLogFlushLog().

Here is the caller graph for this function:

◆ sdlog_mkdir()

int sdlog_mkdir ( const char * path )

static

Create a directory and its parents.

Definition at line 260 of file sdlog_linux.c.

Referenced by sdlog_open().

Here is the caller graph for this function:

◆ sdlog_next_number()

int sdlog_next_number	(	const char *	dir,
		const char *	prefix )

static

Remove the empty logs and get the next free log number.

Definition at line 280 of file sdlog_linux.c.

References dir.

Referenced by sdlog_open().

Here is the caller graph for this function:

◆ sdlog_open()

FileDes sdlog_open	(	const char *	base,
		const char *	dir,
		const char *	prefix,
		char *	name,
		size_t	name_len )

static

Open the next log file in base/dir, returns the descriptor or -1.

Definition at line 310 of file sdlog_linux.c.

References dir, fd, sdlog_error, SDLOG_FATFS_ERROR, SDLOG_FDFULL, sdlog_files, SDLOG_LOGNUM_ERROR, SDLOG_MAX_FILES, sdlog_mkdir(), sdlog_next_number(), and SDLOG_NOCARD.

Referenced by sdlog_chibios_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sdlog_put_buffer()

void sdlog_put_buffer	(	struct chibios_sdlog *	p,
		long	fd,
		const uint8_t *	data,
		uint16_t	len )

static

Definition at line 221 of file sdlog_linux.c.

References sdlog_msg::buf, fd, sdlog_msg::len, p, and SDLOG_MAX_MSG_LEN.

Referenced by chibios_sdlog_init(), and sdlog_put_byte().

Here is the caller graph for this function:

◆ sdlog_put_byte()

void sdlog_put_byte	(	struct chibios_sdlog *	p,
		long	fd,
		uint8_t	byte )

static

Definition at line 231 of file sdlog_linux.c.

References fd, p, and sdlog_put_buffer().

Referenced by chibios_sdlog_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sdlog_report_status()

void sdlog_report_status	(	struct transport_tx *	trans,
		struct link_device *	dev )

static

Tell the GCS in words why the logger does not run (no SD card, card full, ...): at the start and every time it goes into error later, and when the configuration could not be written.

A normal start is not reported. Sent with the LOGGER_STATUS message, from the main thread.

Definition at line 411 of file sdlog_linux.c.

References dev, Min, msg, sdlog_conf_error, SDLOG_ERROR, sdlog_error, sdlog_error_string(), SDLOG_OK, SDLOG_RUNNING, sdlog_status, SDLOG_STOPPED, and status.