Logging facility: logs debug data to logfs and exports it through container UAVObject

flight/modules/Logging/Logging.c

@@ -0,0 +1,106 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup LoggingModule Logging Module
+ * @brief Features for on board logging
+ * @{
+ *
+ * @file       Logging.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      Logging module, provides features for on board logging
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+// ****************
+
+#include "openpilot.h"
+#include "debuglogsettings.h"
+#include "debuglogcontrol.h"
+#include "debuglogentry.h"
+
+// private variables
+static DebugLogSettingsData settings;
+static DebugLogControlData control;
+static DebugLogEntryData *entry; // would be better on stack but event dispatcher stack might be insufficient
+
+// private functions
+static void SettingsUpdatedCb(UAVObjEvent *ev);
+static void ControlUpdatedCb(UAVObjEvent *ev);
+
+int32_t LoggingInitialize(void)
+{
+    DebugLogSettingsInitialize();
+    DebugLogControlInitialize();
+    DebugLogEntryInitialize();
+    PIOS_DEBUGLOG_Initialize();
+    entry = pvPortMalloc(sizeof(DebugLogEntryData));
+    if (!entry) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int32_t LoggingStart(void)
+{
+    DebugLogSettingsConnectCallback(SettingsUpdatedCb);
+    DebugLogControlConnectCallback(ControlUpdatedCb);
+    SettingsUpdatedCb(DebugLogSettingsHandle());
+    return 0;
+}
+MODULE_INITCALL(LoggingInitialize, LoggingStart);
+
+
+static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    DebugLogSettingsGet(&settings);
+    PIOS_DEBUGLOG_Enable(settings.LoggingEnabled);
+    PIOS_DEBUGLOG_Printf("Logging enabled");
+}
+
+static void ControlUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    static bool ignore = 0; // this little hack allows us to set our own uavobject in the callback
+
+    if (ignore) {
+        ignore = 0;
+        return;
+    }
+
+    DebugLogControlGet(&control);
+    if (PIOS_DEBUGLOG_Read(entry, control.Flight, control.Entry) != 0) {
+        // reading from log failed, mark as non existent in output
+        memset(entry, 0, sizeof(DebugLogEntryData));
+        entry->Flight = control.Flight;
+        entry->Entry  = control.Entry;
+        entry->Type   = DEBUGLOGENTRY_TYPE_EMPTY;
+    }
+    PIOS_DEBUGLOG_Info(&control.Flight, &control.Entry);
+
+    ignore = 1; // set ignore flag before setting object - creates loop otherwise!!!
+    DebugLogEntrySet(entry);
+    DebugLogControlSet(&control);
+}
+
+
+/**
+ * @}
+ * @}
+ */

flight/pios/inc/pios_debuglog.h

@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @defgroup   PIOS_DEBUGLOG Flash log debugging Functions
+ * @brief Debugging functionality
+ * @{
+ *
+ * @file       pios_debuglog.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      Debugging Functions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_DEBUGLOG_H
+#define PIOS_DEBUGLOG_H
+
+
+/**
+ * @brief Initialize the log facility
+ */
+void PIOS_DEBUGLOG_Initialize();
+
+/**
+ * @brief Enables or Disables logging globally
+ * @param[in] enable or disable logging
+ */
+void PIOS_DEBUGLOG_Enable(bool enabled);
+
+/**
+ * @brief Write a debug log entry with a uavobject
+ * @param[in] objectid
+ * @param[in] instanceid
+ * @param[in] instanceid
+ * @param[in] size of object
+ * @param[in] data buffer
+ */
+void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data);
+
+/**
+ * @brief Write a debug log entry with text
+ * @param[in] format - as in printf
+ * @param[in] variable arguments for printf
+ * @param...
+ */
+void PIOS_DEBUGLOG_Printf(char *format, ...);
+
+/**
+ * @brief Load one object instance from the filesystem
+ * @param[out] buffer where to store the uavobject
+ * @param[in] log entry from which flight
+ * @param[in] log entry sequence number
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if object not found in filesystem
+ * @retval -4 if object size in filesystem does not exactly match buffer size
+ * @retval -5 if reading the object data from flash fails
+ */
+int32_t PIOS_DEBUGLOG_Read(void *buffer, uint16_t flight, uint16_t inst);
+
+/**
+ * @brief Retrieve run time info of logging system
+ * @param[out] buffer where to store the uavobject
+ * @param[in] log entry from which flight
+ */
+void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry);
+
+#endif // ifndef PIOS_DEBUGLOG_H
+
+/**
+ * @}
+ * @}
+ */

flight/pios/pios_sim_posix.h

@@ -78,6 +78,7 @@ extern void PIOS_LED_Init(void);
 #include <pios_servo.h>
 #include <pios_wdg.h>
 #include <pios_debug.h>
+#include <pios_debuglog.h>
 #include <pios_crc.h>
 #include <pios_rcvr.h>
 #include <pios_flash.h>

flight/pios/posix/pios_debuglog.c

@@ -0,0 +1,192 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @defgroup   PIOS_DEBUGLOG Flash log debugging Functions
+ * @brief Debugging functionality
+ * @{
+ *
+ * @file       pios_debuglog.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      Debugging Functions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+#include "uavobjectmanager.h"
+#include "debuglogentry.h"
+
+// global definitions
+
+
+// Global variables
+extern uintptr_t pios_user_fs_id; // flash filesystem for logging
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static xSemaphoreHandle mutex = 0;
+#define mutexlock()   xSemaphoreTakeRecursive(mutex, portMAX_DELAY)
+#define mutexunlock() xSemaphoreGiveRecursive(mutex)
+#else
+#define mutexlock()
+#define mutexunlock()
+#endif
+
+static bool logging_enabled = false;
+static uint16_t flightnum   = 0;
+static uint16_t lognum = 0;
+static DebugLogEntryData buffer;
+
+/* Private Function Prototypes */
+
+/**
+ * @brief Initialize the log facility
+ */
+void PIOS_DEBUGLOG_Initialize()
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+    if (!mutex) {
+        mutex = xSemaphoreCreateRecursiveMutex();
+    }
+#endif
+    mutexlock();
+    lognum    = 0;
+    flightnum = 0;
+    while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
+        flightnum++;
+    }
+    mutexunlock();
+}
+
+
+/**
+ * @brief Enables or Disables logging globally
+ * @param[in] enable or disable logging
+ */
+void PIOS_DEBUGLOG_Enable(bool enabled)
+{
+    logging_enabled = enabled;
+}
+
+/**
+ * @brief Write a debug log entry with a uavobject
+ * @param[in] objectid
+ * @param[in] instanceid
+ * @param[in] instanceid
+ * @param[in] size of object
+ * @param[in] data buffer
+ */
+void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
+{
+    if (!logging_enabled) {
+        return;
+    }
+    mutexlock();
+    buffer.Flight     = flightnum;
+#if defined(PIOS_INCLUDE_FREERTOS)
+    buffer.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
+#else
+    buffer.FlightTime = 0;
+#endif
+    buffer.Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
+    buffer.ObjectID   = objid;
+    buffer.InstanceID = instid;
+    buffer.Size = size;
+    uint16_t t = 0;
+    for (; t < size && t < sizeof(buffer.Data); t++) {
+        buffer.Data[t] = data[t];
+    }
+
+    if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
+        lognum++;
+    }
+    mutexunlock();
+}
+/**
+ * @brief Write a debug log entry with text
+ * @param[in] format - as in printf
+ * @param[in] variable arguments for printf
+ * @param...
+ */
+void PIOS_DEBUGLOG_Printf(char *format, ...)
+{
+    if (!logging_enabled) {
+        return;
+    }
+    va_list args;
+    va_start(args, format);
+    mutexlock();
+    vsnprintf((char *)buffer.Data, sizeof(buffer.Data), (char *)format, args);
+    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_TEXT;
+    buffer.ObjectID   = 0;
+    buffer.InstanceID = 0;
+    buffer.Size       = strlen((const char *)buffer.Data);
+
+    if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)&buffer, sizeof(DebugLogEntryData)) == 0) {
+        lognum++;
+    }
+    mutexunlock();
+}
+
+
+/**
+ * @brief Load one object instance from the filesystem
+ * @param[out] buffer where to store the uavobject
+ * @param[in] log entry from which flight
+ * @param[in] log entry sequence number
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if object not found in filesystem
+ * @retval -4 if object size in filesystem does not exactly match buffer size
+ * @retval -5 if reading the object data from flash fails
+ */
+int32_t PIOS_DEBUGLOG_Read(void *buffer, uint16_t flight, uint16_t inst)
+{
+    PIOS_Assert(buffer);
+    return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)buffer, sizeof(DebugLogEntryData));
+}
+
+/**
+ * @brief Retrieve run time info of logging system
+ * @param[out] buffer where to store the uavobject
+ * @param[in] log entry from which flight
+ */
+void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry)
+{
+    if (flight) {
+        *flight = flightnum;
+    }
+    if (entry) {
+        *entry = lognum;
+    }
+}
+
+
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/simposix/firmware/Makefile

@@ -37,6 +37,7 @@ MODULES += FixedWingPathFollower
 MODULES += VtolPathFollower
 MODULES += CameraStab
 MODULES += Telemetry
+MODULES += Logging
 MODULES += FirmwareIAP
 MODULES += StateEstimation
 #MODULES += Sensors/simulated/Sensors

flight/targets/boards/simposix/firmware/UAVObjects.inc

@@ -42,6 +42,9 @@ UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
 UAVOBJSRCFILENAMES += airspeedstate
+UAVOBJSRCFILENAMES += debuglogsettings
+UAVOBJSRCFILENAMES += debuglogcontrol
+UAVOBJSRCFILENAMES += debuglogentry
 UAVOBJSRCFILENAMES += flightbatterysettings
 UAVOBJSRCFILENAMES += firmwareiapobj
 UAVOBJSRCFILENAMES += flightbatterystate

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -34,6 +34,9 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/altitudeholddesired.h \
     $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \
     $$UAVOBJECT_SYNTHETICS/altitudefiltersettings.h \
+    $$UAVOBJECT_SYNTHETICS/debuglogsettings.h \
+    $$UAVOBJECT_SYNTHETICS/debuglogcontrol.h \
+    $$UAVOBJECT_SYNTHETICS/debuglogentry.h \
     $$UAVOBJECT_SYNTHETICS/ekfconfiguration.h \
     $$UAVOBJECT_SYNTHETICS/ekfstatevariance.h \
     $$UAVOBJECT_SYNTHETICS/revocalibration.h \
@@ -120,6 +123,9 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/altholdsmoothed.cpp \
     $$UAVOBJECT_SYNTHETICS/altitudeholddesired.cpp \
     $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/debuglogsettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/debuglogcontrol.cpp \
+    $$UAVOBJECT_SYNTHETICS/debuglogentry.cpp \
     $$UAVOBJECT_SYNTHETICS/altitudefiltersettings.cpp \
     $$UAVOBJECT_SYNTHETICS/ekfconfiguration.cpp \
     $$UAVOBJECT_SYNTHETICS/ekfstatevariance.cpp \

shared/uavobjectdefinition/debuglogcontrol.xml

@@ -0,0 +1,11 @@
+<xml>
+    <object name="DebugLogControl" singleinstance="true" settings="false" category="System">
+        <description>Log Control Object</description>
+	<field name="Flight" units="" type="uint16" elements="1" />
+	<field name="Entry" units="" type="uint16" elements="1" />
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="manual" period="0"/>
+        <telemetryflight acked="true" updatemode="manual" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>

shared/uavobjectdefinition/debuglogentry.xml

@@ -0,0 +1,17 @@
+<xml>
+    <object name="DebugLogEntry" singleinstance="true" settings="false" category="System">
+        <description>Log Entry in Flash</description>
+	<field name="Flight" units="" type="uint16" elements="1" />
+	<field name="FlightTime" units="ms" type="uint32" elements="1" />
+	<field name="Entry" units="" type="uint16" elements="1" />
+	<field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject" />
+        <field name="ObjectID" units="" type="uint32" elements="1"/>
+        <field name="InstanceID" units="" type="uint16" elements="1"/>
+	<field name="Size" units="" type="uint16" elements="1" />
+	<field name="Data" units="" type="uint8" elements="200" />
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="manual" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>

shared/uavobjectdefinition/debuglogsettings.xml

@@ -0,0 +1,11 @@
+<xml>
+    <object name="DebugLogSettings" singleinstance="true" settings="true" category="System">
+        <description>Configure On Board Logging Facilities</description>
+        <field name="LoggingEnabled" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" />
+
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>