flight/modules/Logging/Logging.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup LoggingModule Logging Module
   6  * @brief Features for on board logging
   7  * @{
   8  *
   9  * @file       Logging.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  11  * @brief      Logging module, provides features for on board logging
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 // ****************
  32
  33 #include "openpilot.h"
  34 #include "debuglogsettings.h"
  35 #include "debuglogcontrol.h"
  36 #include "debuglogstatus.h"
  37 #include "debuglogentry.h"
  38 #include "flightstatus.h"
  39
  40 // private variables
  41 static DebugLogSettingsData settings;
  42 static DebugLogControlData control;
  43 static DebugLogStatusData status;
  44 static FlightStatusData flightstatus;
  45 static DebugLogEntryData *entry; // would be better on stack but event dispatcher stack might be insufficient
  46
  47 // private functions
  48 static void SettingsUpdatedCb(UAVObjEvent *ev);
  49 static void ControlUpdatedCb(UAVObjEvent *ev);
  50 static void StatusUpdatedCb(UAVObjEvent *ev);
  51 static void FlightStatusUpdatedCb(UAVObjEvent *ev);
  52
  53 int32_t LoggingInitialize(void)
  54 {
  55     DebugLogControlInitialize();
  56     DebugLogStatusInitialize();
  57     DebugLogEntryInitialize();
  58     FlightStatusInitialize();
  59     PIOS_DEBUGLOG_Initialize();
  60     entry = pios_malloc(sizeof(DebugLogEntryData));
  61     if (!entry) {
  62         return -1;
  63     }
  64
  65     return 0;
  66 }
  67
  68 int32_t LoggingStart(void)
  69 {
  70     DebugLogSettingsConnectCallback(SettingsUpdatedCb);
  71     DebugLogControlConnectCallback(ControlUpdatedCb);
  72     FlightStatusConnectCallback(FlightStatusUpdatedCb);
  73     SettingsUpdatedCb(DebugLogSettingsHandle());
  74
  75     UAVObjEvent ev = {
  76         .obj    = DebugLogSettingsHandle(),
  77         .instId = 0,
  78         .event  = EV_UPDATED_PERIODIC,
  79         .lowPriority = true,
  80     };
  81     EventPeriodicCallbackCreate(&ev, StatusUpdatedCb, 1000);
  82     // invoke a periodic dispatcher callback - the event struct is a dummy, it could be filled with anything!
  83     StatusUpdatedCb(&ev);
  84
  85     return 0;
  86 }
  87 MODULE_INITCALL(LoggingInitialize, LoggingStart);
  88
  89 static void StatusUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
  90 {
  91     PIOS_DEBUGLOG_Info(&status.Flight, &status.Entry, &status.FreeSlots, &status.UsedSlots);
  92     DebugLogStatusSet(&status);
  93 }
  94
  95 static void FlightStatusUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
  96 {
  97     FlightStatusGet(&flightstatus);
  98     if (settings.LoggingEnabled == DEBUGLOGSETTINGS_LOGGINGENABLED_ONLYWHENARMED) {
  99         if (flightstatus.Armed != FLIGHTSTATUS_ARMED_ARMED) {
 100             PIOS_DEBUGLOG_Printf("FlightStatus Disarmed: On board Logging disabled.");
 101             PIOS_DEBUGLOG_Enable(0);
 102         } else {
 103             PIOS_DEBUGLOG_Enable(1);
 104             PIOS_DEBUGLOG_Printf("FlightStatus Armed: On board logging enabled.");
 105         }
 106     }
 107 }
 108
 109 static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 110 {
 111     DebugLogSettingsGet(&settings);
 112     if (settings.LoggingEnabled == DEBUGLOGSETTINGS_LOGGINGENABLED_ALWAYS) {
 113         PIOS_DEBUGLOG_Enable(1);
 114         PIOS_DEBUGLOG_Printf("On board logging enabled.");
 115     } else if (settings.LoggingEnabled == DEBUGLOGSETTINGS_LOGGINGENABLED_DISABLED) {
 116         PIOS_DEBUGLOG_Printf("On board logging disabled.");
 117         PIOS_DEBUGLOG_Enable(0);
 118     } else {
 119         FlightStatusUpdatedCb(NULL);
 120     }
 121 }
 122
 123 static void ControlUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 124 {
 125     DebugLogControlGet(&control);
 126     if (control.Operation == DEBUGLOGCONTROL_OPERATION_RETRIEVE) {
 127         memset(entry, 0, sizeof(DebugLogEntryData));
 128         if (PIOS_DEBUGLOG_Read(entry, control.Flight, control.Entry) != 0) {
 129             // reading from log failed, mark as non existent in output
 130             entry->Flight = control.Flight;
 131             entry->Entry  = control.Entry;
 132             entry->Type   = DEBUGLOGENTRY_TYPE_EMPTY;
 133         }
 134         DebugLogEntrySet(entry);
 135     } else if (control.Operation == DEBUGLOGCONTROL_OPERATION_FORMATFLASH) {
 136         FlightStatusArmedOptions armed;
 137         FlightStatusArmedGet(&armed);
 138         if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
 139             PIOS_DEBUGLOG_Format();
 140         }
 141     }
 142     StatusUpdatedCb(ev);
 143 }
 144
 145
 146 /**
 147  * @}
 148  * @}
 149  */