yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactor logger: move some independent methods into separate util file

Browse Source
This commit is contained in:
Beat Küng
2018-10-08 15:28:52 +02:00
parent b65871b433
commit 5eafa1b34b
5 changed files with 401 additions and 282 deletions
Download Patch File Download Diff File Expand all files Collapse all files

268
src/modules/logger/logger.cpp
View File

@@ -49,7 +49,6 @@
#include <uORB/topics/log_message.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <drivers/drv_hrt.h>
@@ -64,17 +63,6 @@
#include <replay/definitions.hpp>
#include <version/version.h>
#if defined(__PX4_DARWIN)
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif
typedef decltype(statfs::f_bavail) px4_statfs_buf_f_bavail_t;
#define GPS_EPOCH_SECS ((time_t)1234567890ULL)
//#define DBGPRINT //write status output every few seconds
#if defined(DBGPRINT)
@@ -824,7 +812,13 @@ void Logger::run()
}
}
if (check_free_space() == 1) {
int32_t max_log_dirs_to_keep = 0;
if (_log_dirs_max != PARAM_INVALID) {
param_get(_log_dirs_max, &max_log_dirs_to_keep);
}
if (util::check_free_space(LOG_ROOT, max_log_dirs_to_keep, _mavlink_log_pub, _sess_dir_index) == 1) {
return;
}
}
@@ -1363,20 +1357,20 @@ int Logger::create_log_dir(tm *tt)
return 0;
}
bool Logger::file_exist(const char *filename)
{
struct stat buffer;
return stat(filename, &buffer) == 0;
}
int Logger::get_log_file_name(char *file_name, size_t file_name_size)
{
tm tt = {};
bool time_ok = false;
if (_log_name_timestamp) {
int32_t utc_offset = 0;
if (_log_utc_offset != PARAM_INVALID) {
param_get(_log_utc_offset, &utc_offset);
}
/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.ulg */
time_ok = get_log_time(&tt, false);
time_ok = util::get_log_time(&tt, utc_offset * 60, false);
}
const char *replay_suffix = "";
@@ -1409,7 +1403,7 @@ int Logger::get_log_file_name(char *file_name, size_t file_name_size)
snprintf(_log_file_name, sizeof(_log_file_name), "log%03u%s.ulg", file_number, replay_suffix);
snprintf(file_name, file_name_size, "%s/%s", _log_dir, _log_file_name);
if (!file_exist(file_name)) {
if (!util::file_exist(file_name)) {
break;
}
@@ -1435,57 +1429,6 @@ void Logger::setReplayFile(const char *file_name)
_replay_file_name = strdup(file_name);
}
bool Logger::get_log_time(struct tm *tt, bool boot_time)
{
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
if (vehicle_gps_position_sub < 0) {
return false;
}
/* Get the latest GPS publication */
vehicle_gps_position_s gps_pos;
time_t utc_time_sec;
bool use_clock_time = true;
if (orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps_pos) == 0) {
utc_time_sec = gps_pos.time_utc_usec / 1e6;
if (gps_pos.fix_type >= 2 && utc_time_sec >= GPS_EPOCH_SECS) {
use_clock_time = false;
}
}
orb_unsubscribe(vehicle_gps_position_sub);
if (use_clock_time) {
/* take clock time if there's no fix (yet) */
struct timespec ts = {};
px4_clock_gettime(CLOCK_REALTIME, &ts);
utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
if (utc_time_sec < GPS_EPOCH_SECS) {
return false;
}
}
/* strip the time elapsed since boot */
if (boot_time) {
utc_time_sec -= hrt_absolute_time() / 1e6;
}
int32_t utc_offset = 0;
if (_log_utc_offset != PARAM_INVALID) {
param_get(_log_utc_offset, &utc_offset);
}
/* apply utc offset */
utc_time_sec += utc_offset * 60;
return gmtime_r(&utc_time_sec, tt) != nullptr;
}
void Logger::start_log_file()
{
if (_writer.is_started(LogWriter::BackendFile) || (_writer.backend() & LogWriter::BackendFile) == 0) {
@@ -2053,187 +1996,6 @@ void Logger::write_changed_parameters()
_writer.notify();
}
int Logger::check_free_space()
{
struct statfs statfs_buf;
int32_t max_log_dirs_to_keep = 0;
if (_log_dirs_max != PARAM_INVALID) {
param_get(_log_dirs_max, &max_log_dirs_to_keep);
}
if (max_log_dirs_to_keep == 0) {
max_log_dirs_to_keep = INT32_MAX;
}
// remove old logs if the free space falls below a threshold
do {
if (statfs(LOG_ROOT, &statfs_buf) != 0) {
return PX4_ERROR;
}
DIR *dp = opendir(LOG_ROOT);
if (dp == nullptr) {
break; // ignore if we cannot access the log directory
}
struct dirent *result = nullptr;
int num_sess = 0, num_dates = 0;
// There are 2 directory naming schemes: sess<i> or <year>-<month>-<day>.
// For both we find the oldest and then remove the one which has more directories.
int year_min = 10000, month_min = 99, day_min = 99, sess_idx_min = 99999999, sess_idx_max = 0;
while ((result = readdir(dp))) {
int year, month, day, sess_idx;
if (sscanf(result->d_name, "sess%d", &sess_idx) == 1) {
++num_sess;
if (sess_idx > sess_idx_max) {
sess_idx_max = sess_idx;
}
if (sess_idx < sess_idx_min) {
sess_idx_min = sess_idx;
}
} else if (sscanf(result->d_name, "%d-%d-%d", &year, &month, &day) == 3) {
++num_dates;
if (year < year_min) {
year_min = year;
month_min = month;
day_min = day;
} else if (year == year_min) {
if (month < month_min) {
month_min = month;
day_min = day;
} else if (month == month_min) {
if (day < day_min) {
day_min = day;
}
}
}
}
}
closedir(dp);
_sess_dir_index = sess_idx_max + 1;
uint64_t min_free_bytes = 300ULL * 1024ULL * 1024ULL;
uint64_t total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
if (total_bytes / 10 < min_free_bytes) { // reduce the minimum if it's larger than 10% of the disk size
min_free_bytes = total_bytes / 10;
}
if (num_sess + num_dates <= max_log_dirs_to_keep &&
statfs_buf.f_bavail >= (px4_statfs_buf_f_bavail_t)(min_free_bytes / statfs_buf.f_bsize)) {
break; // enough free space and limit not reached
}
if (num_sess == 0 && num_dates == 0) {
break; // nothing to delete
}
char directory_to_delete[LOG_DIR_LEN];
int n;
if (num_sess >= num_dates) {
n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/sess%03u", LOG_ROOT, sess_idx_min);
} else {
n = snprintf(directory_to_delete, sizeof(directory_to_delete), "%s/%04u-%02u-%02u", LOG_ROOT, year_min, month_min,
day_min);
}
if (n >= (int)sizeof(directory_to_delete)) {
PX4_ERR("log path too long (%i)", n);
break;
}
PX4_INFO("removing log directory %s to get more space (left=%u MiB)", directory_to_delete,
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
if (remove_directory(directory_to_delete)) {
PX4_ERR("Failed to delete directory");
break;
}
} while (true);
/* use a threshold of 50 MiB: if below, do not start logging */
if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
mavlink_log_critical(&_mavlink_log_pub,
"[logger] Not logging; SD almost full: %u MiB",
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize / 1024U / 1024U));
return 1;
}
return PX4_OK;
}
int Logger::remove_directory(const char *dir)
{
DIR *d = opendir(dir);
size_t dir_len = strlen(dir);
struct dirent *p;
int ret = 0;
if (!d) {
return -1;
}
while (!ret && (p = readdir(d))) {
int ret2 = -1;
char *buf;
size_t len;
if (!strcmp(p->d_name, ".") || !strcmp(p->d_name, "..")) {
continue;
}
len = dir_len + strlen(p->d_name) + 2;
buf = new char[len];
if (buf) {
struct stat statbuf;
snprintf(buf, len, "%s/%s", dir, p->d_name);
if (!stat(buf, &statbuf)) {
if (S_ISDIR(statbuf.st_mode)) {
ret2 = remove_directory(buf);
} else {
ret2 = unlink(buf);
}
}
delete[] buf;
}
ret = ret2;
}
closedir(d);
if (!ret) {
ret = rmdir(dir);
}
return ret;
}
void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result)
{
vehicle_command_ack_s vehicle_command_ack = {};