/**
* The sd log deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
*/
int sdlog_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("sdlog already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("sdlog",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
4096,
sdlog_thread_main,
(const char **)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog is not started\n");
}
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
print_sdlog_status();
} else {
printf("\tsdlog not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int sdlog_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
}
/* log every n'th value (skip three per default) */
int skip_value = 3;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "s:r")) != EOF) {
switch (ch) {
case 's':
{
/* log only every n'th (gyro clocked) value */
unsigned s = strtoul(optarg, NULL, 10);
if (s < 1 || s > 250) {
errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
} else {
skip_value = s;
}
}
break;
case 'r':
/* log only on request, disable logging per default */
logging_enabled = false;
break;
case '?':
if (optopt == 'c') {
warnx("Option -%c requires an argument.\n", optopt);
} else if (isprint(optopt)) {
warnx("Unknown option `-%c'.\n", optopt);
} else {
warnx("Unknown option character `\\x%x'.\n", optopt);
}
default:
usage("unrecognized flag");
errx(1, "exiting.");
}
}
if (file_exist(mountpoint) != OK) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
}
char folder_path[64];
if (create_logfolder(folder_path))
errx(1, "unable to create logging folder, exiting.");
FILE *gpsfile;
FILE *blackbox_file;
/* string to hold the path to the sensorfile */
char path_buf[64] = "";
/* only print logging path, important to find log file later */
warnx("logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
if (NULL == (gpsfile = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int gpsfile_no = fileno(gpsfile);
/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
// XXX for fsync() calls
int blackbox_file_no = fileno(blackbox_file);
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
struct {
struct sensor_combined_s raw;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_command_s cmd;
struct vehicle_local_position_s local_pos;
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct battery_status_s batt;
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int spa_sub;
int act_0_sub;
int controls_0_sub;
int controls_effective_0_sub;
int local_pos_sub;
int global_pos_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int batt_sub;
int diff_pres_sub;
int airspeed_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for vehicle command */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
/* subscribe to ORB for global position */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
/* do not rate limit, instead use skip counter (aliasing on rate limit) */
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT VALUE --- */
/* subscribe to ORB for attitude setpoint */
/* struct already allocated */
subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.spa_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/** --- ACTUATOR OUTPUTS --- */
subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
fds[fdsc_count].fd = subs.act_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.controls_effective_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
/* subscribe to ORB for local position */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
/* subscribe to ORB for global position */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
/* subscribe to ORB for vicon position */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- FLOW measurements --- */
/* subscribe to ORB for flow measurements */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY STATUS --- */
/* subscribe to ORB for flow measurements */
subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.batt_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- DIFFERENTIAL PRESSURE --- */
/* subscribe to ORB for flow measurements */
subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
fds[fdsc_count].fd = subs.diff_pres_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
/* subscribe to ORB for airspeed */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_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.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
// const int timeout = 1000;
thread_running = true;
/* initialize log buffer with a size of 10 */
sdlog_logbuffer_init(&lb, 10);
/* initialize thread synchronization */
pthread_mutex_init(&sysvector_mutex, NULL);
pthread_cond_init(&sysvector_cond, NULL);
/* start logbuffer emptying thread */
pthread_t sysvector_pthread = sysvector_write_start(&lb);
starttime = hrt_absolute_time();
/* track skipping */
int skip_count = 0;
while (!thread_should_exit) {
/* only poll for commands, gps and sensor_combined */
int poll_ret = poll(fds, 3, 1000);
/* handle the poll result */
if (poll_ret == 0) {
/* XXX this means none of our providers is giving us data - might be an error? */
} else if (poll_ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else {
int ifds = 0;
/* --- VEHICLE COMMAND VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy command into local buffer */
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
/* always log to blackbox, even when logging disabled */
blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
handle_command(&buf.cmd);
}
/* --- VEHICLE GPS VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy gps position into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
/* if logging disabled, continue */
if (logging_enabled) {
/* write KML line */
}
}
/* --- SENSORS RAW VALUE --- */
if (fds[ifds++].revents & POLLIN) {
// /* copy sensors raw data into local buffer */
// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
// /* write out */
// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
/* always copy sensors raw data into local buffer, since poll flags won't clear else */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres);
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
/* if skipping is on or logging is disabled, ignore */
if (skip_count < skip_value || !logging_enabled) {
skip_count++;
/* do not log data */
continue;
} else {
/* log data, reset */
skip_count = 0;
}
struct sdlog_sysvector sysvect = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
.baro = buf.raw.baro_pres_mbar,
.baro_alt = buf.raw.baro_alt_meter,
.baro_temp = buf.raw.baro_temp_celcius,
.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
.actuators = {
buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
},
.vbat = buf.batt.voltage_v,
.bat_current = buf.batt.current_a,
.bat_discharged = buf.batt.discharged_mah,
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
.diff_pressure = buf.diff_pres.differential_pressure_pa,
.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
.true_airspeed = buf.airspeed.true_airspeed_m_s
};
/* put into buffer for later IO */
pthread_mutex_lock(&sysvector_mutex);
sdlog_logbuffer_write(&lb, &sysvect);
/* signal the other thread new data, but not yet unlock */
if ((unsigned)lb.count > (lb.size / 2)) {
/* only request write if several packets can be written at once */
pthread_cond_signal(&sysvector_cond);
}
/* unlock, now the writer thread may run */
pthread_mutex_unlock(&sysvector_mutex);
}
}
}
print_sdlog_status();
/* wake up write thread one last time */
pthread_mutex_lock(&sysvector_mutex);
pthread_cond_signal(&sysvector_cond);
/* unlock, now the writer thread may return */
pthread_mutex_unlock(&sysvector_mutex);
/* wait for write thread to return */
(void)pthread_join(sysvector_pthread, NULL);
pthread_mutex_destroy(&sysvector_mutex);
pthread_cond_destroy(&sysvector_cond);
warnx("exiting.\n\n");
/* finish KML file */
// XXX
fclose(gpsfile);
fclose(blackbox_file);
thread_running = false;
return 0;
}
int sdlog_thread_main(int argc, char *argv[]) {
warnx("starting\n");
if (file_exist(mountpoint) != OK) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
}
char folder_path[64];
if (create_logfolder(folder_path))
errx(1, "unable to create logging folder, exiting.");
/* create sensorfile */
int sensorfile = -1;
int actuator_outputs_file = -1;
int actuator_controls_file = -1;
int sysvector_file = -1;
FILE *gpsfile;
FILE *blackbox_file;
// FILE *vehiclefile;
char path_buf[64] = ""; // string to hold the path to the sensorfile
warnx("logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
// /* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
// sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
// if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
// errx(1, "opening %s failed.\n", path_buf);
// }
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
if (0 == (actuator_controls_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
if (NULL == (gpsfile = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int gpsfile_no = fileno(gpsfile);
/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int blackbox_file_no = fileno(blackbox_file);
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
struct {
struct sensor_combined_s raw;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct vehicle_command_s cmd;
struct vehicle_local_position_s local_pos;
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int spa_sub;
int act_0_sub;
int controls0_sub;
int local_pos_sub;
int global_pos_sub;
int gps_pos_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for sensors raw */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
/* rate-limit raw data updates to 200Hz */
orb_set_interval(subs.sensor_sub, 5);
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT VALUE --- */
/* subscribe to ORB for attitude setpoint */
/* struct already allocated */
subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.spa_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/** --- ACTUATOR OUTPUTS --- */
subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
fds[fdsc_count].fd = subs.act_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
/* subscribe to ORB for local position */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
/* subscribe to ORB for global position */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
/* subscribe to ORB for global position */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_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.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
// const int timeout = 1000;
thread_running = true;
int poll_count = 0;
starttime = hrt_absolute_time();
while (!thread_should_exit) {
// int poll_ret = poll(fds, fdsc_count, timeout);
// /* handle the poll result */
// if (poll_ret == 0) {
// /* XXX this means none of our providers is giving us data - might be an error? */
// } else if (poll_ret < 0) {
// /* XXX this is seriously bad - should be an emergency */
// } else {
// int ifds = 0;
// if (poll_count % 5000 == 0) {
// fsync(sensorfile);
// fsync(actuator_outputs_file);
// fsync(actuator_controls_file);
// fsync(blackbox_file_no);
// }
// /* --- VEHICLE COMMAND VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy command into local buffer */
// orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
// blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
// buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
// (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
// }
// /* --- SENSORS RAW VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy sensors raw data into local buffer */
// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
// /* write out */
// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
// }
// /* --- ATTITUDE VALUE --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy attitude data into local buffer */
// orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
// }
// /* --- VEHICLE ATTITUDE SETPOINT --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy local position data into local buffer */
// orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
// }
// /* --- ACTUATOR OUTPUTS 0 --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy actuator data into local buffer */
// orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
// /* write out */
// // actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
// }
// /* --- ACTUATOR CONTROL --- */
// if (fds[ifds++].revents & POLLIN) {
// orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
// /* write out */
// actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
// }
// }
if (poll_count % 100 == 0) {
fsync(sysvector_file);
}
poll_count++;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
#pragma pack(push, 1)
struct {
uint64_t timestamp; //[us]
float gyro[3]; //[rad/s]
float accel[3]; //[m/s^2]
float mag[3]; //[gauss]
float baro; //pressure [millibar]
float baro_alt; //altitude above MSL [meter]
float baro_temp; //[degree celcius]
float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
float vbat; //battery voltage in [volt]
float adc[3]; //remaining auxiliary ADC ports [volt]
float local_position[3]; //tangent plane mapping into x,y,z [m]
int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
float attitude[3]; //pitch, roll, yaw [rad]
float rotMatrix[9]; //unitvectors
} sysvector = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
.baro = buf.raw.baro_pres_mbar,
.baro_alt = buf.raw.baro_alt_meter,
.baro_temp = buf.raw.baro_temp_celcius,
.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
.vbat = buf.raw.battery_voltage_v,
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}
};
#pragma pack(pop)
sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
usleep(10000); //10000 corresponds in reality to ca. 76 Hz
}
fsync(sysvector_file);
print_sdlog_status();
warnx("exiting.\n");
close(sensorfile);
close(actuator_outputs_file);
close(actuator_controls_file);
fclose(gpsfile);
fclose(blackbox_file);
thread_running = false;
return 0;
}
void print_sdlog_status()
{
unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
}
