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)); }
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 sdlog2_thread_main(int argc, char *argv[]) { mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { warnx("failed to open MAVLink log stream, start mavlink app first."); } /* log buffer size */ int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; int ch; while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); if (r == 0) { sleep_delay = 0; } else { sleep_delay = 1000000 / r; } } break; case 'b': { unsigned long s = strtoul(optarg, NULL, 10); if (s < 1) { s = 1; } log_buffer_size = 1024 * s; } break; case 'e': log_on_start = true; break; case 'a': log_when_armed = true; break; case '?': if (optopt == 'c') { warnx("Option -%c requires an argument.", optopt); } else if (isprint(optopt)) { warnx("Unknown option `-%c'.", optopt); } else { warnx("Unknown option character `\\x%x'.", optopt); } default: sdlog2_usage("unrecognized flag"); errx(1, "exiting."); } } if (!file_exist(mountpoint)) { errx(1, "logging mount point %s not present, exiting.", mountpoint); } if (create_logfolder()) { errx(1, "unable to create logging folder, exiting."); } const char *converter_in = "/etc/logging/conv.zip"; char *converter_out = malloc(120); sprintf(converter_out, "%s/conv.zip", folder_path); if (file_copy(converter_in, converter_out)) { errx(1, "unable to copy conversion scripts, exiting."); } free(converter_out); /* only print logging path, important to find log file later */ warnx("logging to directory: %s", folder_path); /* initialize log buffer with specified size */ warnx("log buffer size: %i bytes.", log_buffer_size); if (OK != logbuffer_init(&lb, log_buffer_size)) { errx(1, "can't allocate log buffer, exiting."); } struct vehicle_status_s buf_status; memset(&buf_status, 0, sizeof(buf_status)); /* warning! using union here to save memory, elements should be used separately! */ union { struct vehicle_command_s cmd; struct sensor_combined_s sensor; struct vehicle_attitude_s att; struct vehicle_attitude_setpoint_s att_sp; struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; struct actuator_controls_effective_s act_controls_effective; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; struct vehicle_global_position_setpoint_s global_pos_sp; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct rc_channels_s rc; 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)); struct { int cmd_sub; int status_sub; int sensor_sub; int att_sub; int att_sp_sub; int rates_sp_sub; int act_outputs_sub; int act_controls_sub; int act_controls_effective_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; int global_pos_sp_sub; int gps_pos_sub; int vicon_pos_sub; int flow_sub; int rc_sub; int airspeed_sub; int esc_sub; int global_vel_sp_sub; } subs; /* log message buffer: header + body */ #pragma pack(push, 1) struct { LOG_PACKET_HEADER; union { struct log_TIME_s log_TIME; struct log_ATT_s log_ATT; struct log_ATSP_s log_ATSP; struct log_IMU_s log_IMU; struct log_SENS_s log_SENS; struct log_LPOS_s log_LPOS; struct log_LPSP_s log_LPSP; struct log_GPS_s log_GPS; struct log_ATTC_s log_ATTC; struct log_STAT_s log_STAT; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; 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) }; #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; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- VEHICLE STATUS --- */ subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); fds[fdsc_count].fd = subs.status_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- GPS 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 COMBINED --- */ subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); fds[fdsc_count].fd = subs.sensor_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- 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 --- */ subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); fds[fdsc_count].fd = subs.att_sp_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- RATES SETPOINT --- */ subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); fds[fdsc_count].fd = subs.rates_sp_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- ACTUATOR OUTPUTS --- */ subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS); fds[fdsc_count].fd = subs.act_outputs_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- ACTUATOR CONTROL --- */ subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); fds[fdsc_count].fd = subs.act_controls_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- ACTUATOR CONTROL EFFECTIVE --- */ subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); fds[fdsc_count].fd = subs.act_controls_effective_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- 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++; /* --- LOCAL POSITION SETPOINT --- */ subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); fds[fdsc_count].fd = subs.local_pos_sp_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- 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++; /* --- GLOBAL POSITION SETPOINT--- */ subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); fds[fdsc_count].fd = subs.global_pos_sp_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- 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++; /* --- OPTICAL FLOW --- */ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); fds[fdsc_count].fd = subs.flow_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- RC CHANNELS --- */ subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); fds[fdsc_count].fd = subs.rc_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- AIRSPEED --- */ subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); fds[fdsc_count].fd = subs.airspeed_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; /* --- ESCs --- */ subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); fds[fdsc_count].fd = subs.esc_sub; 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. */ if (fdsc_count > fdsc) { warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.", __FILE__, __LINE__); fdsc_count = fdsc; } /* * set up poll to block for new data, * wait for a maximum of 1000 ms */ const int poll_timeout = 1000; thread_running = true; /* initialize thread synchronization */ pthread_mutex_init(&logbuffer_mutex, NULL); pthread_cond_init(&logbuffer_cond, NULL); /* track changes in sensor_combined topic */ uint16_t gyro_counter = 0; uint16_t accelerometer_counter = 0; uint16_t magnetometer_counter = 0; uint16_t baro_counter = 0; uint16_t differential_pressure_counter = 0; /* enable logging on start if needed */ if (log_on_start) sdlog2_start_log(); while (!main_thread_should_exit) { /* decide use usleep() or blocking poll() */ bool use_sleep = sleep_delay > 0 && logging_enabled; /* poll all topics if logging enabled or only management (first 2) if not */ int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout); /* handle the poll result */ if (poll_ret < 0) { warnx("ERROR: poll error, stop logging."); main_thread_should_exit = true; } else if (poll_ret > 0) { /* check all data subscriptions only if logging enabled, * logging_enabled can be changed while checking vehicle_command and vehicle_status */ bool check_data = logging_enabled; int ifds = 0; int handled_topics = 0; /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); handle_command(&buf.cmd); handled_topics++; } /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); if (log_when_armed) { handle_status(&buf_status); } handled_topics++; } if (!logging_enabled || !check_data || handled_topics >= poll_ret) { continue; } ifds = 1; // begin from fds[1] again pthread_mutex_lock(&logbuffer_mutex); /* write time stamp message */ log_msg.msg_type = LOG_TIME_MSG; log_msg.body.log_TIME.t = hrt_absolute_time(); LOGBUFFER_WRITE_AND_COUNT(TIME); /* --- VEHICLE STATUS --- */ if (fds[ifds++].revents & POLLIN) { // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_STAT_MSG; log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage; log_msg.body.log_STAT.battery_current = buf_status.battery_current; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning; log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; LOGBUFFER_WRITE_AND_COUNT(STAT); } /* --- GPS POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec; log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type; log_msg.body.log_GPS.eph = buf.gps_pos.eph_m; log_msg.body.log_GPS.epv = buf.gps_pos.epv_m; log_msg.body.log_GPS.lat = buf.gps_pos.lat; log_msg.body.log_GPS.lon = buf.gps_pos.lon; log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f; log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s; log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad; LOGBUFFER_WRITE_AND_COUNT(GPS); } /* --- SENSOR COMBINED --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); bool write_IMU = false; bool write_SENS = false; if (buf.sensor.gyro_counter != gyro_counter) { gyro_counter = buf.sensor.gyro_counter; write_IMU = true; } if (buf.sensor.accelerometer_counter != accelerometer_counter) { accelerometer_counter = buf.sensor.accelerometer_counter; write_IMU = true; } if (buf.sensor.magnetometer_counter != magnetometer_counter) { magnetometer_counter = buf.sensor.magnetometer_counter; write_IMU = true; } if (buf.sensor.baro_counter != baro_counter) { baro_counter = buf.sensor.baro_counter; write_SENS = true; } if (buf.sensor.differential_pressure_counter != differential_pressure_counter) { differential_pressure_counter = buf.sensor.differential_pressure_counter; write_SENS = true; } if (write_IMU) { log_msg.msg_type = LOG_IMU_MSG; log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; LOGBUFFER_WRITE_AND_COUNT(IMU); } if (write_SENS) { log_msg.msg_type = LOG_SENS_MSG; log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; LOGBUFFER_WRITE_AND_COUNT(SENS); } } /* --- ATTITUDE --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); log_msg.msg_type = LOG_ATT_MSG; log_msg.body.log_ATT.roll = buf.att.roll; log_msg.body.log_ATT.pitch = buf.att.pitch; log_msg.body.log_ATT.yaw = buf.att.yaw; log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; LOGBUFFER_WRITE_AND_COUNT(ATT); } /* --- ATTITUDE SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp); log_msg.msg_type = LOG_ATSP_MSG; log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; LOGBUFFER_WRITE_AND_COUNT(ATSP); } /* --- RATES SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp); log_msg.msg_type = LOG_ARSP_MSG; log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; LOGBUFFER_WRITE_AND_COUNT(ARSP); } /* --- ACTUATOR OUTPUTS --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs); log_msg.msg_type = LOG_OUT0_MSG; memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); LOGBUFFER_WRITE_AND_COUNT(OUT0); } /* --- ACTUATOR CONTROL --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls); log_msg.msg_type = LOG_ATTC_MSG; log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; LOGBUFFER_WRITE_AND_COUNT(ATTC); } /* --- ACTUATOR CONTROL EFFECTIVE --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective); // TODO not implemented yet } /* --- LOCAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); log_msg.msg_type = LOG_LPOS_MSG; log_msg.body.log_LPOS.x = buf.local_pos.x; log_msg.body.log_LPOS.y = buf.local_pos.y; log_msg.body.log_LPOS.z = buf.local_pos.z; log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat; log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon; log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); log_msg.body.log_LPOS.landed = buf.local_pos.landed; LOGBUFFER_WRITE_AND_COUNT(LPOS); } /* --- LOCAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp); log_msg.msg_type = LOG_LPSP_MSG; log_msg.body.log_LPSP.x = buf.local_pos_sp.x; log_msg.body.log_LPSP.y = buf.local_pos_sp.y; log_msg.body.log_LPSP.z = buf.local_pos_sp.z; log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; LOGBUFFER_WRITE_AND_COUNT(LPSP); } /* --- GLOBAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); log_msg.msg_type = LOG_GPOS_MSG; log_msg.body.log_GPOS.lat = buf.global_pos.lat; log_msg.body.log_GPOS.lon = buf.global_pos.lon; log_msg.body.log_GPOS.alt = buf.global_pos.alt; log_msg.body.log_GPOS.vel_n = buf.global_pos.vx; log_msg.body.log_GPOS.vel_e = buf.global_pos.vy; log_msg.body.log_GPOS.vel_d = buf.global_pos.vz; LOGBUFFER_WRITE_AND_COUNT(GPOS); } /* --- GLOBAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); log_msg.msg_type = LOG_GPSP_MSG; log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; LOGBUFFER_WRITE_AND_COUNT(GPSP); } /* --- VICON POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); // TODO not implemented yet } /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); log_msg.msg_type = LOG_FLOW_MSG; log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; log_msg.body.log_FLOW.quality = buf.flow.quality; log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; LOGBUFFER_WRITE_AND_COUNT(FLOW); } /* --- RC CHANNELS --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc); log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); LOGBUFFER_WRITE_AND_COUNT(RC); } /* --- AIRSPEED --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); log_msg.msg_type = LOG_AIRS_MSG; log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; LOGBUFFER_WRITE_AND_COUNT(AIRS); } /* --- ESCs --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc); for (uint8_t i = 0; i < buf.esc.esc_count; i++) { log_msg.msg_type = LOG_ESC_MSG; log_msg.body.log_ESC.counter = buf.esc.counter; log_msg.body.log_ESC.esc_count = buf.esc.esc_count; log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; log_msg.body.log_ESC.esc_num = i; log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; LOGBUFFER_WRITE_AND_COUNT(ESC); } } /* --- 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) { /* only request write if several packets can be written at once */ pthread_cond_signal(&logbuffer_cond); } /* unlock, now the writer thread may run */ pthread_mutex_unlock(&logbuffer_mutex); } if (use_sleep) { usleep(sleep_delay); } } if (logging_enabled) sdlog2_stop_log(); pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); free(lb.data); warnx("exiting."); thread_running = false; return 0; }