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Code Issues Releases Activity

OP-1395 - Pack several objects on a single Debug Log "slot", after ten consecutive failures (log full) gives up trying to save to prevent wasting time. Use PIOS_Delay for timestamp

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This commit is contained in:
Alessio Morale 2014-07-08 02:47:09 +02:00
parent 3f60e75d2c
commit 55b325966a
2 changed files with 93 additions and 36 deletions
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125
flight/pios/common/pios_debuglog.c
View File

@ -49,6 +49,9 @@ static xSemaphoreHandle mutex = 0;
#endif #endif
static bool logging_enabled = false; static bool logging_enabled = false;
#define MAX_CONSECUTIVE_FAILS_COUNT 10
static bool log_is_full = false;
static uint8_t fails_count = 0;
static uint16_t flightnum = 0; static uint16_t flightnum = 0;
static uint16_t lognum = 0; static uint16_t lognum = 0;
static DebugLogEntryData *buffer = 0; static DebugLogEntryData *buffer = 0;
@ -56,8 +59,16 @@ static DebugLogEntryData *buffer = 0;
static DebugLogEntryData staticbuffer; static DebugLogEntryData staticbuffer;
#endif #endif
/* Private Function Prototypes */ #define LOG_ENTRY_MAX_DATA_SIZE (sizeof(((DebugLogEntryData *)0)->Data))
#define LOG_ENTRY_HEADER_SIZE (sizeof(DebugLogEntryData) - LOG_ENTRY_MAX_DATA_SIZE)
// build the obj_id as a DEBUGLOGENTRY ID with least significant byte zeroed and filled with flight number
#define LOG_GET_FLIGHT_OBJID(x) ((DEBUGLOGENTRY_OBJID & ~0xFF) | (x & 0xFF))
static uint32_t used_buffer_space = 0;
/* Private Function Prototypes */
static void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data);
static bool write_current_buffer();
/** /**
* @brief Initialize the log facility * @brief Initialize the log facility
*/ */
@ -75,9 +86,12 @@ void PIOS_DEBUGLOG_Initialize()
return; return;
} }
mutexlock(); mutexlock();
lognum = 0; lognum = 0;
flightnum = 0; flightnum = 0;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { fails_count = 0;
used_buffer_space = 0;
log_is_full = false;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
flightnum++; flightnum++;
} }
mutexunlock(); mutexunlock();
@ -103,30 +117,13 @@ void PIOS_DEBUGLOG_Enable(uint8_t enabled)
*/ */
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data) void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{ {
if (!logging_enabled || !buffer) { if (!logging_enabled || !buffer || log_is_full) {
return; return;
} }
mutexlock(); mutexlock();
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer->FlightTime = 0;
#endif
buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
buffer->ObjectID = objid;
buffer->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
buffer->Size = size;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
memcpy(buffer->Data, data, size);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { enqueue_data(objid, instid, size, data);
lognum++;
}
mutexunlock(); mutexunlock();
} }
/** /**
@ -137,27 +134,30 @@ void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8
*/ */
void PIOS_DEBUGLOG_Printf(char *format, ...) void PIOS_DEBUGLOG_Printf(char *format, ...)
{ {
if (!logging_enabled || !buffer) { if (!logging_enabled || !buffer || log_is_full) {
return; return;
} }
va_list args; va_list args;
va_start(args, format); va_start(args, format);
mutexlock(); mutexlock();
// flush any pending buffer before writing debug text
if (used_buffer_space) {
write_current_buffer();
}
memset(buffer->Data, 0xff, sizeof(buffer->Data)); memset(buffer->Data, 0xff, sizeof(buffer->Data));
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args); vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
buffer->Flight = flightnum; buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS; buffer->FlightTime = PIOS_DELAY_GetuS();
#else
buffer->FlightTime = 0;
#endif
buffer->Entry = lognum; buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT; buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer->ObjectID = 0; buffer->ObjectID = 0;
buffer->InstanceID = 0; buffer->InstanceID = 0;
buffer->Size = strlen((const char *)buffer->Data); buffer->Size = strlen((const char *)buffer->Data);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++; lognum++;
} }
mutexunlock(); mutexunlock();
@ -179,7 +179,7 @@ void PIOS_DEBUGLOG_Printf(char *format, ...)
int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst) int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
{ {
PIOS_Assert(mybuffer); PIOS_Assert(mybuffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData)); return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flight), inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
} }
/** /**
@ -214,11 +214,68 @@ void PIOS_DEBUGLOG_Format(void)
{ {
mutexlock(); mutexlock();
PIOS_FLASHFS_Format(pios_user_fs_id); PIOS_FLASHFS_Format(pios_user_fs_id);
lognum = 0; lognum = 0;
flightnum = 0; flightnum = 0;
log_is_full = false;
fails_count = 0;
used_buffer_space = 0;
mutexunlock(); mutexunlock();
} }
void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{
DebugLogEntryData *entry;
// start a new block
if (!used_buffer_space) {
entry = buffer;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
used_buffer_space += size;
} else {
// if an instance is being filled and there is enough space, does enqueues new data.
if (used_buffer_space + size + LOG_ENTRY_HEADER_SIZE > LOG_ENTRY_MAX_DATA_SIZE) {
buffer->Type = DEBUGLOGENTRY_TYPE_MULTIPLEUAVOBJECTS;
if (!write_current_buffer()) {
return;
}
entry = buffer;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
used_buffer_space += size;
} else {
entry = (DebugLogEntryData *)&buffer->Data[used_buffer_space];
used_buffer_space += size + LOG_ENTRY_HEADER_SIZE;
}
}
entry->Flight = flightnum;
entry->FlightTime = PIOS_DELAY_GetuS();
entry->Entry = lognum;
entry->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
entry->ObjectID = objid;
entry->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
entry->Size = size;
memcpy(entry->Data, data, size);
}
bool write_current_buffer()
{
// not enough space, write the block and start a new one
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
fails_count = 0;
used_buffer_space = 0;
} else {
if (fails_count++ > MAX_CONSECUTIVE_FAILS_COUNT) {
log_is_full = true;
}
return false;
}
return true;
}
/** /**
* @} * @}
* @} * @}

4
shared/uavobjectdefinition/debuglogentry.xml
View File

@ -2,9 +2,9 @@
<object name="DebugLogEntry" singleinstance="true" settings="false" category="System"> <object name="DebugLogEntry" singleinstance="true" settings="false" category="System">
<description>Log Entry in Flash</description> <description>Log Entry in Flash</description>
<field name="Flight" units="" type="uint16" elements="1" /> <field name="Flight" units="" type="uint16" elements="1" />
<field name="FlightTime" units="ms" type="uint32" elements="1" /> <field name="FlightTime" units="us" type="uint32" elements="1" />
<field name="Entry" units="" type="uint16" elements="1" /> <field name="Entry" units="" type="uint16" elements="1" />
<field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject" /> <field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject, MultipleUAVObjects" />
<field name="ObjectID" units="" type="uint32" elements="1"/> <field name="ObjectID" units="" type="uint32" elements="1"/>
<field name="InstanceID" units="" type="uint16" elements="1"/> <field name="InstanceID" units="" type="uint16" elements="1"/>
<field name="Size" units="" type="uint16" elements="1" /> <field name="Size" units="" type="uint16" elements="1" />