#include <logger.h>

Inheritance diagram for px4::logger::Logger:

Collaboration diagram for px4::logger::Logger:

Classes
struct	LogFileName

struct	MissionSubscription

struct	Statistics

Public Types
enum	LogMode { LogMode::while_armed = 0, LogMode::boot_until_disarm, LogMode::boot_until_shutdown, LogMode::rc_aux1 }

Public Member Functions
	Logger (LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name, LogMode log_mode, bool log_name_timestamp)

	~Logger ()

void	run () override

int	print_status () override

void	setReplayFile (const char *file_name)
	Tell the logger that we're in replay mode. More...

bool	add_topic (const char *name, uint32_t interval_ms=0, uint8_t instance=0)
	Add a topic to be logged. More...

bool	add_topic_multi (const char *name, uint32_t interval_ms=0)

LoggerSubscription *	add_topic (const orb_metadata *topic, uint32_t interval_ms=0, uint8_t instance=0)
	add a logged topic (called by add_topic() above). More...

void	print_statistics (LogType type)

void	set_arm_override (bool override)

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static Logger *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

static bool	request_stop_static ()
	request the logger thread to stop (this method does not block). More...

Private Types
enum	PrintLoadReason { PrintLoadReason::Preflight, PrintLoadReason::Postflight, PrintLoadReason::Watchdog }

using	WrittenFormats = Array< const orb_metadata *, MAX_TOPICS_NUM+10 >
	Array to store written formats (add some more for nested definitions) More...

Private Member Functions
void	write_all_add_logged_msg (LogType type)
	Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances. More...

void	write_add_logged_msg (LogType type, LoggerSubscription &subscription)
	Write an ADD_LOGGED_MSG to the log for a given subscription and instance. More...

int	create_log_dir (LogType type, tm tt, char log_dir, int log_dir_len)
	Create logging directory. More...

int	get_log_file_name (LogType type, char *file_name, size_t file_name_size)
	Get log file name with directory (create it if necessary) More...

void	start_log_file (LogType type)

void	stop_log_file (LogType type)

void	start_log_mavlink ()

void	stop_log_mavlink ()

bool	can_start_mavlink_log () const
	check if mavlink logging can be started More...

const char *	configured_backend_mode () const
	get the configured backend as string More...

void	write_header (LogType type)
	write the file header with file magic and timestamp. More...

void	write_format (LogType type, const orb_metadata &meta, WrittenFormats &written_formats, ulog_message_format_s &msg, int level=1)

void	write_formats (LogType type)

void	write_perf_data (bool preflight)
	write performance counters More...

void	write_console_output ()
	write bootup console output More...

void	write_version (LogType type)

void	write_info (LogType type, const char name, const char value)

void	write_info_multiple (LogType type, const char name, const char value, bool is_continued)

void	write_info (LogType type, const char *name, int32_t value)

void	write_info (LogType type, const char *name, uint32_t value)

template<typename T >
void	write_info_template (LogType type, const char name, T value, const char type_str)
	generic common template method for write_info variants More...

void	write_parameters (LogType type)

void	write_changed_parameters (LogType type)

bool	copy_if_updated (int sub_idx, void *buffer, bool try_to_subscribe)

bool	write_message (LogType type, void *ptr, size_t size)
	Write exactly one ulog message to the logger and handle dropouts. More...

int	add_topics_from_file (const char *fname)
	Parse a file containing a list of uORB topics to log, calling add_topic for each. More...

void	initialize_mission_topics (MissionLogType type)
	Add topic subscriptions based on the configured mission log type. More...

void	add_mission_topic (const char *name, uint32_t interval_ms=0)
	Add a topic to be logged for the mission log (it's also added to the full log). More...

void	initialize_configured_topics ()
	Add topic subscriptions based on the _sdlog_profile_handle parameter. More...

void	add_default_topics ()

void	add_estimator_replay_topics ()

void	add_thermal_calibration_topics ()

void	add_system_identification_topics ()

void	add_high_rate_topics ()

void	add_debug_topics ()

void	add_sensor_comparison_topics ()

void	add_vision_and_avoidance_topics ()

bool	start_stop_logging (MissionLogType mission_log_type)
	check current arming state or aux channel and start/stop logging if state changed and according to configured params. More...

void	handle_vehicle_command_update ()

void	ack_vehicle_command (vehicle_command_s *cmd, uint32_t result)

void	initialize_load_output (PrintLoadReason reason)
	initialize the output for the process load, so that ~1 second later it will be written to the log More...

void	write_load_output ()
	write the process load, which was previously initialized with initialize_load_output() More...

void	debug_print_buffer (uint32_t &total_bytes, hrt_abstime &timer_start)
	Regularly print the buffer fill state (only if DBGPRINT is set) More...

Static Private Member Functions
static void	perf_iterate_callback (perf_counter_t handle, void *user)
	callback to write the performance counters More...

static void	print_load_callback (void *user)
	callback for print_load_buffer() to print the process load More...

Private Attributes
uint8_t *	_msg_buffer {nullptr}

int	_msg_buffer_len {0}

LogFileName	_file_name [(int) LogType::Count]

bool	_prev_state {false}
	previous state depending on logging mode (arming or aux1 state) More...

bool	_manually_logging_override {false}

Statistics	_statistics [(int) LogType::Count]

hrt_abstime	_last_sync_time {0}
	last time a sync msg was sent More...

LogMode	_log_mode

const bool	_log_name_timestamp

Array< LoggerSubscription, MAX_TOPICS_NUM >	_subscriptions
	all subscriptions for full & mission log (in front) More...

MissionSubscription	_mission_subscriptions [MAX_MISSION_TOPICS_NUM] {}
	additional data for mission subscriptions More...

int	_num_mission_subs {0}

LogWriter	_writer

uint32_t	_log_interval {0}

const orb_metadata *	_polling_topic_meta {nullptr}
	if non-null, poll on this topic instead of sleeping More...

orb_advert_t	_mavlink_log_pub {nullptr}

uint8_t	_next_topic_id {0}
	id of next subscribed ulog topic More...

char *	_replay_file_name {nullptr}

bool	_should_stop_file_log {false}
	if true _next_load_print is set and file logging will be stopped after load printing (for the full log) More...

print_load_s	_load {}
	process load data More...

hrt_abstime	_next_load_print {0}
	timestamp when to print the process load More...

PrintLoadReason	_print_load_reason {PrintLoadReason::Preflight}

uORB::Subscription	_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}

uORB::Subscription	_vehicle_command_sub {ORB_ID(vehicle_command)}

uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}

uORB::SubscriptionInterval	_log_message_sub {ORB_ID(log_message), 20}

param_t	_sdlog_profile_handle {PARAM_INVALID}

param_t	_log_utc_offset {PARAM_INVALID}

param_t	_log_dirs_max {PARAM_INVALID}

param_t	_mission_log {PARAM_INVALID}

Static Private Attributes
static constexpr size_t	MAX_TOPICS_NUM = 90
	Maximum number of logged topics. More...

static constexpr int	MAX_MISSION_TOPICS_NUM = 5
	Maximum number of mission topics. More...

static constexpr unsigned	MAX_NO_LOGFILE = 999
	Maximum number of log files. More...

static constexpr const char *	LOG_ROOT [(int) LogType::Count]

Detailed Description

Definition at line 99 of file logger.h.

Member Typedef Documentation

◆ WrittenFormats

using px4::logger::Logger::WrittenFormats = Array < const orb_metadata *, MAX_TOPICS_NUM + 10 >

private

Array to store written formats (add some more for nested definitions)

Definition at line 253 of file logger.h.

Member Enumeration Documentation

◆ LogMode

enum px4::logger::Logger::LogMode

strong

Enumerator
while_armed
boot_until_disarm
boot_until_shutdown
rc_aux1

Definition at line 102 of file logger.h.

◆ PrintLoadReason

enum px4::logger::Logger::PrintLoadReason

strongprivate

Enumerator
Preflight
Postflight
Watchdog

Definition at line 169 of file logger.h.

Constructor & Destructor Documentation

◆ Logger()

px4::logger::Logger::Logger	(	LogWriter::Backend	backend,
		size_t	buffer_size,
		uint32_t	log_interval,
		const char *	poll_topic_name,
		LogMode	log_mode,
		bool	log_name_timestamp
	)

Definition at line 363 of file logger.cpp.

References _log_dirs_max, _log_utc_offset, _mission_log, _polling_topic_meta, _sdlog_profile_handle, orb_get_topics(), orb_topics_count(), and param_find().

Here is the call graph for this function:

◆ ~Logger()

px4::logger::Logger::~Logger ( )

Definition at line 391 of file logger.cpp.

References _msg_buffer, and _replay_file_name.

Member Function Documentation

◆ ack_vehicle_command()

void px4::logger::Logger::ack_vehicle_command	(	vehicle_command_s *	cmd,
		uint32_t	result
	)

private

Definition at line 2203 of file logger.cpp.

References vehicle_command_ack_s::command, vehicle_command_s::command, hrt_absolute_time(), ORB_ID, vehicle_command_ack_s::result, vehicle_command_s::source_component, vehicle_command_s::source_system, vehicle_command_ack_s::target_component, vehicle_command_ack_s::target_system, and vehicle_command_ack_s::timestamp.

Referenced by handle_vehicle_command_update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_debug_topics()

void px4::logger::Logger::add_debug_topics ( )

private

Definition at line 594 of file logger.cpp.

References add_topic().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_default_topics()

void px4::logger::Logger::add_default_topics ( )

private

Definition at line 509 of file logger.cpp.

References add_topic(), and add_topic_multi().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_estimator_replay_topics()

void px4::logger::Logger::add_estimator_replay_topics ( )

private

Definition at line 602 of file logger.cpp.

References add_topic(), and add_topic_multi().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_high_rate_topics()

void px4::logger::Logger::add_high_rate_topics ( )

private

Definition at line 580 of file logger.cpp.

References add_topic().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_mission_topic()

void px4::logger::Logger::add_mission_topic	(	const char *	name,
		uint32_t	interval_ms = `0`
	)

private

Add a topic to be logged for the mission log (it's also added to the full log).

The interval is expected to be 0 or large (in the order of 0.1 seconds or higher). Must be called before all other topics are added.

Parameters

name	topic name
interval	limit rate if >0 [ms], otherwise log as fast as the topic is updated.

Definition at line 786 of file logger.cpp.

References _mission_subscriptions, _num_mission_subs, add_topic(), MAX_MISSION_TOPICS_NUM, px4::logger::Logger::MissionSubscription::min_delta_ms, and px4::logger::Logger::MissionSubscription::next_write_time.

Referenced by initialize_mission_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_sensor_comparison_topics()

void px4::logger::Logger::add_sensor_comparison_topics ( )

private

Definition at line 630 of file logger.cpp.

References add_topic_multi().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_system_identification_topics()

void px4::logger::Logger::add_system_identification_topics ( )

private

Definition at line 650 of file logger.cpp.

References add_topic().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_thermal_calibration_topics()

void px4::logger::Logger::add_thermal_calibration_topics ( )

private

Definition at line 623 of file logger.cpp.

References add_topic_multi().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_topic() [1/2]

bool px4::logger::Logger::add_topic	(	const char *	name,
		uint32_t	interval_ms = `0`,
		uint8_t	instance = `0`
	)

Add a topic to be logged.

This must be called before start_log() (because it does not write an ADD_LOGGED_MSG message).

Parameters

name	topic name
interval	limit in milliseconds if >0, otherwise log as fast as the topic is updated.
instance	orb topic instance

Returns: true on success

Definition at line 434 of file logger.cpp.

References _polling_topic_meta, _subscriptions, ll40ls::instance, orb_get_topics(), and orb_topics_count().

Referenced by add_debug_topics(), add_default_topics(), add_estimator_replay_topics(), add_high_rate_topics(), add_mission_topic(), add_system_identification_topics(), add_topic_multi(), add_topics_from_file(), and add_vision_and_avoidance_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_topic() [2/2]

LoggerSubscription * px4::logger::Logger::add_topic	(	const orb_metadata *	topic,
		uint32_t	interval_ms = `0`,
		uint8_t	instance = `0`
	)

add a logged topic (called by add_topic() above).

In addition, it subscribes to the first instance of the topic, if it's advertised,

Returns: the newly added subscription on success, nullptr otherwise

Definition at line 412 of file logger.cpp.

References _subscriptions, ulog_message_format_s::format, orb_metadata::o_fields, and orb_metadata::o_name.

◆ add_topic_multi()

bool px4::logger::Logger::add_topic_multi	(	const char *	name,
		uint32_t	interval_ms = `0`
	)

Definition at line 474 of file logger.cpp.

References add_topic(), ll40ls::instance, and ORB_MULTI_MAX_INSTANCES.

Referenced by add_default_topics(), add_estimator_replay_topics(), add_sensor_comparison_topics(), and add_thermal_calibration_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_topics_from_file()

int px4::logger::Logger::add_topics_from_file ( const char * fname )

private

Parse a file containing a list of uORB topics to log, calling add_topic for each.

Parameters

fname name of file

Returns: number of topics added

Definition at line 658 of file logger.cpp.

References add_topic().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ add_vision_and_avoidance_topics()

void px4::logger::Logger::add_vision_and_avoidance_topics ( )

private

Definition at line 638 of file logger.cpp.

References add_topic().

Referenced by initialize_configured_topics().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ can_start_mavlink_log()

bool px4::logger::Logger::can_start_mavlink_log ( ) const

inlineprivate

check if mavlink logging can be started

Definition at line 238 of file logger.h.

References px4::logger::LogWriter::BackendMavlink, and px4::logger::Full.

Referenced by handle_vehicle_command_update(), and start_log_mavlink().

Here is the caller graph for this function:

◆ configured_backend_mode()

const char * px4::logger::Logger::configured_backend_mode ( ) const

private

get the configured backend as string

Definition at line 710 of file logger.cpp.

References _writer, px4::logger::LogWriter::backend(), px4::logger::LogWriter::BackendAll, px4::logger::LogWriter::BackendFile, and px4::logger::LogWriter::BackendMavlink.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ copy_if_updated()

bool px4::logger::Logger::copy_if_updated	(	int	sub_idx,
		void *	buffer,
		bool	try_to_subscribe
	)

inlineprivate

Definition at line 484 of file logger.cpp.

References _num_mission_subs, _subscriptions, uORB::SubscriptionInterval::copy(), px4::logger::Full, px4::logger::Mission, uORB::SubscriptionInterval::subscribe(), uORB::SubscriptionInterval::update(), uORB::SubscriptionInterval::valid(), and write_add_logged_msg().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ create_log_dir()

int px4::logger::Logger::create_log_dir	(	LogType	type,
		tm *	tt,
		char *	log_dir,
		int	log_dir_len
	)

private

Create logging directory.

Parameters

type
tt	if not null, use it for the directory name
log_dir	returned log directory path
log_dir_len	log_dir buffer length

Returns: string length of log_dir (excluding terminating null-char), <0 on error

Definition at line 1330 of file logger.cpp.

References _file_name, px4::logger::Logger::LogFileName::has_log_dir, px4::logger::Logger::LogFileName::log_dir, LOG_ROOT, OK, and px4::logger::Logger::LogFileName::sess_dir_index.

Referenced by get_log_file_name().

Here is the caller graph for this function:

◆ custom_command()

int px4::logger::Logger::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 137 of file logger.cpp.

References is_running(), and print_usage().

Here is the call graph for this function:

◆ debug_print_buffer()

void px4::logger::Logger::debug_print_buffer	(	uint32_t &	total_bytes,
		hrt_abstime &	timer_start
	)

inlineprivate

Regularly print the buffer fill state (only if DBGPRINT is set)

Parameters

total_bytes	total written bytes (to the full file), will be reset on each print
timer_start	time since last print

Definition at line 1181 of file logger.cpp.

References _statistics, px4::logger::Logger::Statistics::high_water, hrt_absolute_time(), and px4::logger::Logger::Statistics::max_dropout_duration.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_log_file_name()

int px4::logger::Logger::get_log_file_name	(	LogType	type,
		char *	file_name,
		size_t	file_name_size
	)

private

Get log file name with directory (create it if necessary)

Definition at line 1391 of file logger.cpp.

References _file_name, _log_name_timestamp, _log_utc_offset, _replay_file_name, create_log_dir(), px4::logger::util::file_exist(), px4::logger::util::get_log_time(), px4::logger::Logger::LogFileName::log_file_name, MAX_NO_LOGFILE, param_get(), and PARAM_INVALID.

Referenced by start_log_file().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handle_vehicle_command_update()

void px4::logger::Logger::handle_vehicle_command_update ( )

private

Definition at line 1276 of file logger.cpp.

References _vehicle_command_sub, ack_vehicle_command(), can_start_mavlink_log(), command, vehicle_command_s::command, vehicle_command_s::param1, start_log_mavlink(), stop_log_mavlink(), and uORB::Subscription::update().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initialize_configured_topics()

void px4::logger::Logger::initialize_configured_topics ( )

private

Add topic subscriptions based on the _sdlog_profile_handle parameter.

Definition at line 736 of file logger.cpp.

References _sdlog_profile_handle, add_debug_topics(), add_default_topics(), add_estimator_replay_topics(), add_high_rate_topics(), add_sensor_comparison_topics(), add_system_identification_topics(), add_thermal_calibration_topics(), add_vision_and_avoidance_topics(), px4::logger::DEBUG_TOPICS, px4::logger::DEFAULT, px4::logger::ESTIMATOR_REPLAY, px4::logger::HIGH_RATE, param_get(), PARAM_INVALID, px4::logger::SENSOR_COMPARISON, px4::logger::SYSTEM_IDENTIFICATION, px4::logger::THERMAL_CALIBRATION, and px4::logger::VISION_AND_AVOIDANCE.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initialize_load_output()

void px4::logger::Logger::initialize_load_output ( PrintLoadReason reason )

private

initialize the output for the process load, so that ~1 second later it will be written to the log

Definition at line 1634 of file logger.cpp.

References _load, _next_load_print, _print_load_reason, px4::logger::perf_callback_data_t::buffer, px4::logger::perf_callback_data_t::counter, hrt_absolute_time(), hrt_abstime, init_print_load_s(), px4::logger::perf_callback_data_t::logger, print_load_buffer(), and print_load_callback().

Referenced by run(), start_log_file(), start_log_mavlink(), and start_stop_logging().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initialize_mission_topics()

void px4::logger::Logger::initialize_mission_topics ( MissionLogType type )

private

Add topic subscriptions based on the configured mission log type.

Definition at line 723 of file logger.cpp.

References add_mission_topic(), px4::logger::Complete, and px4::logger::Geotagging.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ instantiate()

Logger * px4::logger::Logger::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 233 of file logger.cpp.

References backend, px4::logger::LogWriter::BackendAll, px4::logger::LogWriter::BackendFile, px4::logger::LogWriter::BackendMavlink, boot_until_disarm, boot_until_shutdown, rc_aux1, setReplayFile(), and while_armed.

Here is the call graph for this function:

◆ perf_iterate_callback()

void px4::logger::Logger::perf_iterate_callback	(	perf_counter_t	handle,
		void *	user
	)

staticprivate

callback to write the performance counters

Definition at line 1570 of file logger.cpp.

References px4::logger::perf_callback_data_t::counter, px4::logger::Full, px4::logger::perf_callback_data_t::logger, perf_print_counter_buffer(), px4::logger::perf_callback_data_t::preflight, and write_info_multiple().

Referenced by write_perf_data().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_load_callback()

void px4::logger::Logger::print_load_callback ( void * user )

staticprivate

callback for print_load_buffer() to print the process load

Definition at line 1602 of file logger.cpp.

References _print_load_reason, px4::logger::perf_callback_data_t::buffer, px4::logger::perf_callback_data_t::counter, px4::logger::Full, px4::logger::perf_callback_data_t::logger, Postflight, Preflight, Watchdog, and write_info_multiple().

Referenced by initialize_load_output(), and write_load_output().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_statistics()

void px4::logger::Logger::print_statistics ( LogType type )

Definition at line 204 of file logger.cpp.

References px4::logger::LogWriter::BackendFile, f(), px4::logger::Logger::Statistics::high_water, hrt_absolute_time(), px4::logger::Logger::Statistics::max_dropout_duration, px4::logger::Logger::Statistics::start_time_file, and px4::logger::Logger::Statistics::write_dropouts.

Here is the call graph for this function:

◆ print_status()

int px4::logger::Logger::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 174 of file logger.cpp.

References px4::logger::LogWriter::BackendFile, px4::logger::LogWriter::BackendMavlink, px4::logger::Full, and px4::logger::Mission.

◆ print_usage()

int px4::logger::Logger::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 2216 of file logger.cpp.

◆ request_stop_static()

bool px4::logger::Logger::request_stop_static ( )

static

request the logger thread to stop (this method does not block).

Returns: true if the logger is stopped, false if (still) running

Definition at line 402 of file logger.cpp.

References is_running().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ run()

void px4::logger::Logger::run ( )

override

See also: ModuleBase::run()

Definition at line 800 of file logger.cpp.

Here is the call graph for this function:

◆ set_arm_override()

void px4::logger::Logger::set_arm_override ( bool override )

inline

Definition at line 165 of file logger.h.

◆ setReplayFile()

void px4::logger::Logger::setReplayFile ( const char * file_name )

Tell the logger that we're in replay mode.

This must be called before starting the logger.

Parameters

file_name file name of the used log replay file. Will be copied.

Definition at line 1458 of file logger.cpp.

References _replay_file_name.

Referenced by instantiate().

Here is the caller graph for this function:

◆ start_log_file()

void px4::logger::Logger::start_log_file ( LogType type )

private

Definition at line 1467 of file logger.cpp.

Referenced by run(), and start_stop_logging().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ start_log_mavlink()

void px4::logger::Logger::start_log_mavlink ( )

private

Definition at line 1531 of file logger.cpp.

References _writer, px4::logger::LogWriter::BackendMavlink, can_start_mavlink_log(), px4::logger::Full, initialize_load_output(), px4::logger::LogWriter::notify(), Preflight, px4::logger::LogWriter::select_write_backend(), px4::logger::LogWriter::set_need_reliable_transfer(), px4::logger::LogWriter::start_log_mavlink(), px4::logger::LogWriter::unselect_write_backend(), write_all_add_logged_msg(), write_console_output(), write_formats(), write_header(), write_parameters(), write_perf_data(), and write_version().

Referenced by handle_vehicle_command_update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ start_stop_logging()

bool px4::logger::Logger::start_stop_logging ( MissionLogType mission_log_type )

private

check current arming state or aux channel and start/stop logging if state changed and according to configured params.

Parameters

vehicle_status_sub
manual_control_sp_sub
mission_log_type

Returns: true if log started

Definition at line 1202 of file logger.cpp.

References _log_mode, _manual_control_sp_sub, _manually_logging_override, _prev_state, _should_stop_file_log, _vehicle_status_sub, armed, vehicle_status_s::arming_state, manual_control_setpoint_s::aux1, boot_until_shutdown, px4::logger::Disabled, px4::logger::Full, initialize_load_output(), px4::logger::Mission, Postflight, rc_aux1, start_log_file(), stop_log_file(), and uORB::Subscription::update().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stop_log_file()

void px4::logger::Logger::stop_log_file ( LogType type )

private

Definition at line 1516 of file logger.cpp.

References _writer, px4::logger::LogWriter::BackendFile, px4::logger::Full, px4::logger::LogWriter::is_started(), px4::logger::LogWriter::set_need_reliable_transfer(), px4::logger::LogWriter::stop_log_file(), and write_perf_data().

Referenced by run(), and start_stop_logging().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stop_log_mavlink()

void px4::logger::Logger::stop_log_mavlink ( )

private

Definition at line 1556 of file logger.cpp.

References _writer, and px4::logger::LogWriter::stop_log_mavlink().

Referenced by handle_vehicle_command_update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ task_spawn()

int px4::logger::Logger::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 157 of file logger.cpp.

◆ write_add_logged_msg()

void px4::logger::Logger::write_add_logged_msg	(	LogType	type,
		LoggerSubscription &	subscription
	)

private

Write an ADD_LOGGED_MSG to the log for a given subscription and instance.

_writer.lock() must be held when calling this.

Definition at line 1836 of file logger.cpp.

References _next_topic_id, _writer, uORB::SubscriptionInterval::get_instance(), uORB::SubscriptionInterval::get_topic(), ulog_message_add_logged_s::message_name, msg, ulog_message_add_logged_s::msg_id, px4::logger::LoggerSubscription::msg_id, px4::logger::MSG_ID_INVALID, ulog_message_add_logged_s::msg_size, ulog_message_add_logged_s::multi_id, px4::logger::LogWriter::need_reliable_transfer(), orb_metadata::o_name, px4::logger::LogWriter::set_need_reliable_transfer(), ULOG_MSG_HEADER_LEN, and write_message().

Referenced by copy_if_updated(), and write_all_add_logged_msg().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_all_add_logged_msg()

void px4::logger::Logger::write_all_add_logged_msg ( LogType type )

private

Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances.

Definition at line 1815 of file logger.cpp.

References _num_mission_subs, _subscriptions, _writer, px4::logger::LogWriter::lock(), px4::logger::Mission, px4::logger::LogWriter::unlock(), uORB::SubscriptionInterval::valid(), and write_add_logged_msg().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_changed_parameters()

void px4::logger::Logger::write_changed_parameters ( LogType type )

private

Definition at line 2132 of file logger.cpp.

References _writer, ulog_message_parameter_header_s::key, ulog_message_parameter_header_s::key_len, px4::logger::LogWriter::lock(), msg, ulog_message_parameter_header_s::msg_size, ulog_message_parameter_header_s::msg_type, px4::logger::LogWriter::notify(), param_count(), param_for_index(), param_get(), PARAM_INVALID, param_name(), param_type(), PARAM_TYPE_FLOAT, PARAM_TYPE_INT32, param_used(), param_value_unsaved(), PARAMETER, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_console_output()

void px4::logger::Logger::write_console_output ( )

private

write bootup console output

Definition at line 1668 of file logger.cpp.

References px4::logger::Full, math::min(), and write_info_multiple().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_format()

void px4::logger::Logger::write_format	(	LogType	type,
		const orb_metadata &	meta,
		WrittenFormats &	written_formats,
		ulog_message_format_s &	msg,
		int	level = `1`
	)

private

Definition at line 1690 of file logger.cpp.

References ulog_message_format_s::format, msg, ulog_message_format_s::msg_size, orb_metadata::o_fields, orb_metadata::o_name, orb_get_topics(), orb_topics_count(), ULOG_MSG_HEADER_LEN, and write_message().

Referenced by write_formats().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_formats()

void px4::logger::Logger::write_formats ( LogType type )

private

Definition at line 1792 of file logger.cpp.

References _num_mission_subs, _subscriptions, _writer, uORB::SubscriptionInterval::get_topic(), px4::logger::LogWriter::lock(), px4::logger::Mission, msg, px4::logger::LogWriter::unlock(), and write_format().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_header()

void px4::logger::Logger::write_header ( LogType type )

private

write the file header with file magic and timestamp.

Definition at line 1954 of file logger.cpp.

References _writer, FLAG_BITS, hrt_absolute_time(), px4::logger::LogWriter::lock(), ulog_file_header_s::magic, ulog_message_flag_bits_s::msg_size, ulog_file_header_s::timestamp, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_info() [1/3]

void px4::logger::Logger::write_info	(	LogType	type,
		const char *	name,
		const char *	value
	)

private

Definition at line 1866 of file logger.cpp.

References _writer, INFO, ulog_message_info_header_s::key, ulog_message_info_header_s::key_len, px4::logger::LogWriter::lock(), msg, ulog_message_info_header_s::msg_size, ulog_message_info_header_s::msg_type, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Referenced by write_version().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_info() [2/3]

void px4::logger::Logger::write_info	(	LogType	type,
		const char *	name,
		int32_t	value
	)

private

Definition at line 1920 of file logger.cpp.

References name.

◆ write_info() [3/3]

void px4::logger::Logger::write_info	(	LogType	type,
		const char *	name,
		uint32_t	value
	)

private

Definition at line 1925 of file logger.cpp.

References name.

◆ write_info_multiple()

void px4::logger::Logger::write_info_multiple	(	LogType	type,
		const char *	name,
		const char *	value,
		bool	is_continued
	)

private

Definition at line 1891 of file logger.cpp.

References _writer, INFO_MULTIPLE, ulog_message_info_multiple_header_s::is_continued, ulog_message_info_multiple_header_s::key, ulog_message_info_multiple_header_s::key_len, px4::logger::LogWriter::lock(), msg, ulog_message_info_multiple_header_s::msg_size, ulog_message_info_multiple_header_s::msg_type, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Referenced by perf_iterate_callback(), print_load_callback(), and write_console_output().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_info_template()

template<typename T >

void px4::logger::Logger::write_info_template	(	LogType	type,
		const char *	name,
		T	value,
		const char *	type_str
	)

private

generic common template method for write_info variants

Definition at line 1932 of file logger.cpp.

References _writer, INFO, ulog_message_info_header_s::key, ulog_message_info_header_s::key_len, px4::logger::LogWriter::lock(), msg, ulog_message_info_header_s::msg_size, ulog_message_info_header_s::msg_type, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Here is the call graph for this function:

◆ write_load_output()

void px4::logger::Logger::write_load_output ( )

private

write the process load, which was previously initialized with initialize_load_output()

Definition at line 1649 of file logger.cpp.

References _load, _print_load_reason, _writer, px4::logger::perf_callback_data_t::buffer, px4::logger::perf_callback_data_t::counter, hrt_absolute_time(), hrt_abstime, px4::logger::perf_callback_data_t::logger, print_load_buffer(), print_load_callback(), px4::logger::LogWriter::set_need_reliable_transfer(), and Watchdog.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_message()

bool px4::logger::Logger::write_message	(	LogType	type,
		void *	ptr,
		size_t	size
	)

private

Write exactly one ulog message to the logger and handle dropouts.

Must be called with _writer.lock() held.

Returns: true if data written, false otherwise (on overflow)

Definition at line 1302 of file logger.cpp.

References _statistics, _writer, px4::logger::Logger::Statistics::dropout_start, px4::logger::Logger::Statistics::high_water, hrt_absolute_time(), hrt_elapsed_time(), px4::logger::Logger::Statistics::max_dropout_duration, px4::logger::Logger::Statistics::write_dropouts, and px4::logger::LogWriter::write_message().

Referenced by run(), write_add_logged_msg(), write_changed_parameters(), write_format(), write_header(), write_info(), write_info_multiple(), write_info_template(), and write_parameters().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_parameters()

void px4::logger::Logger::write_parameters ( LogType type )

private

Definition at line 2063 of file logger.cpp.

References _writer, ulog_message_parameter_header_s::key, ulog_message_parameter_header_s::key_len, px4::logger::LogWriter::lock(), msg, ulog_message_parameter_header_s::msg_size, ulog_message_parameter_header_s::msg_type, px4::logger::LogWriter::notify(), param_count(), param_for_index(), param_get(), PARAM_INVALID, param_name(), param_type(), PARAM_TYPE_FLOAT, PARAM_TYPE_INT32, param_used(), PARAMETER, ULOG_MSG_HEADER_LEN, px4::logger::LogWriter::unlock(), and write_message().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_perf_data()

void px4::logger::Logger::write_perf_data ( bool preflight )

private

write performance counters

Parameters

preflight preflight if true, postflight otherwise

Definition at line 1590 of file logger.cpp.

References px4::logger::perf_callback_data_t::counter, px4::logger::perf_callback_data_t::logger, perf_iterate_all(), perf_iterate_callback(), and px4::logger::perf_callback_data_t::preflight.

Referenced by start_log_file(), start_log_mavlink(), and stop_log_file().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write_version()

void px4::logger::Logger::write_version ( LogType type )

private

Definition at line 1980 of file logger.cpp.

References _log_utc_offset, _replay_file_name, px4::logger::Mission, param_find(), param_get(), PARAM_INVALID, px4_board_name(), px4_board_sub_type(), px4_ecl_lib_version_string(), px4_firmware_git_branch(), px4_firmware_vendor_version(), px4_firmware_version(), px4_firmware_version_string(), px4_os_name(), px4_os_version(), px4_os_version_string(), px4_toolchain_name(), px4_toolchain_version(), and write_info().

Referenced by start_log_file(), and start_log_mavlink().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _file_name

LogFileName px4::logger::Logger::_file_name[(int) LogType::Count]

private

Definition at line 373 of file logger.h.

Referenced by create_log_dir(), get_log_file_name(), and run().

◆ _last_sync_time

hrt_abstime px4::logger::Logger::_last_sync_time {0}

private

last time a sync msg was sent

Definition at line 379 of file logger.h.

Referenced by run().

◆ _load

print_load_s px4::logger::Logger::_load {}

private

process load data

Definition at line 396 of file logger.h.

Referenced by initialize_load_output(), and write_load_output().

◆ _log_dirs_max

param_t px4::logger::Logger::_log_dirs_max {PARAM_INVALID}

private

Definition at line 407 of file logger.h.

Referenced by Logger(), and run().

◆ _log_interval

uint32_t px4::logger::Logger::_log_interval {0}

private

Definition at line 389 of file logger.h.

Referenced by run().

◆ _log_message_sub

uORB::SubscriptionInterval px4::logger::Logger::_log_message_sub {ORB_ID(log_message), 20}

private

Definition at line 403 of file logger.h.

Referenced by run().

◆ _log_mode

LogMode px4::logger::Logger::_log_mode

private

Definition at line 381 of file logger.h.

Referenced by run(), and start_stop_logging().

◆ _log_name_timestamp

const bool px4::logger::Logger::_log_name_timestamp

private

Definition at line 382 of file logger.h.

Referenced by get_log_file_name().

◆ _log_utc_offset

param_t px4::logger::Logger::_log_utc_offset {PARAM_INVALID}

private

Definition at line 406 of file logger.h.

Referenced by get_log_file_name(), Logger(), and write_version().

◆ _manual_control_sp_sub

uORB::Subscription px4::logger::Logger::_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}

private

Definition at line 400 of file logger.h.

Referenced by start_stop_logging().

◆ _manually_logging_override

bool px4::logger::Logger::_manually_logging_override {false}

private

Definition at line 376 of file logger.h.

Referenced by start_stop_logging().

◆ _mavlink_log_pub

orb_advert_t px4::logger::Logger::_mavlink_log_pub {nullptr}

private

Definition at line 391 of file logger.h.

Referenced by run(), and start_log_file().

◆ _mission_log

param_t px4::logger::Logger::_mission_log {PARAM_INVALID}

private

Definition at line 408 of file logger.h.

Referenced by Logger(), and run().

◆ _mission_subscriptions

MissionSubscription px4::logger::Logger::_mission_subscriptions[MAX_MISSION_TOPICS_NUM] {}

private

additional data for mission subscriptions

Definition at line 385 of file logger.h.

Referenced by add_mission_topic(), and run().

◆ _msg_buffer

uint8_t* px4::logger::Logger::_msg_buffer {nullptr}

private

Definition at line 370 of file logger.h.

Referenced by run(), and ~Logger().

◆ _msg_buffer_len

int px4::logger::Logger::_msg_buffer_len {0}

private

Definition at line 371 of file logger.h.

Referenced by run().

◆ _next_load_print

hrt_abstime px4::logger::Logger::_next_load_print {0}

private

timestamp when to print the process load

Definition at line 397 of file logger.h.

Referenced by initialize_load_output(), and run().

◆ _next_topic_id

uint8_t px4::logger::Logger::_next_topic_id {0}

private

id of next subscribed ulog topic

Definition at line 392 of file logger.h.

Referenced by write_add_logged_msg().

◆ _num_mission_subs

int px4::logger::Logger::_num_mission_subs {0}

private

Definition at line 386 of file logger.h.

Referenced by add_mission_topic(), copy_if_updated(), run(), write_all_add_logged_msg(), and write_formats().

◆ _polling_topic_meta

const orb_metadata* px4::logger::Logger::_polling_topic_meta {nullptr}

private

if non-null, poll on this topic instead of sleeping

Definition at line 390 of file logger.h.

Referenced by add_topic(), Logger(), and run().

◆ _prev_state

bool px4::logger::Logger::_prev_state {false}

private

previous state depending on logging mode (arming or aux1 state)

Definition at line 375 of file logger.h.

Referenced by start_stop_logging().

◆ _print_load_reason

PrintLoadReason px4::logger::Logger::_print_load_reason {PrintLoadReason::Preflight}

private

Definition at line 398 of file logger.h.

Referenced by initialize_load_output(), print_load_callback(), and write_load_output().

◆ _replay_file_name

char* px4::logger::Logger::_replay_file_name {nullptr}

private

Definition at line 393 of file logger.h.

Referenced by get_log_file_name(), setReplayFile(), write_version(), and ~Logger().

◆ _sdlog_profile_handle

param_t px4::logger::Logger::_sdlog_profile_handle {PARAM_INVALID}

private

Definition at line 405 of file logger.h.

Referenced by initialize_configured_topics(), and Logger().

◆ _should_stop_file_log

bool px4::logger::Logger::_should_stop_file_log {false}

private

if true _next_load_print is set and file logging will be stopped after load printing (for the full log)

Definition at line 394 of file logger.h.

Referenced by run(), and start_stop_logging().

◆ _statistics

Statistics px4::logger::Logger::_statistics[(int) LogType::Count]

private

Definition at line 378 of file logger.h.

Referenced by debug_print_buffer(), run(), start_log_file(), and write_message().

◆ _subscriptions

Array<LoggerSubscription, MAX_TOPICS_NUM> px4::logger::Logger::_subscriptions

private

all subscriptions for full & mission log (in front)

Definition at line 384 of file logger.h.

Referenced by add_topic(), copy_if_updated(), run(), write_all_add_logged_msg(), and write_formats().

◆ _vehicle_command_sub

uORB::Subscription px4::logger::Logger::_vehicle_command_sub {ORB_ID(vehicle_command)}

private

Definition at line 401 of file logger.h.

Referenced by handle_vehicle_command_update().

◆ _vehicle_status_sub

uORB::Subscription px4::logger::Logger::_vehicle_status_sub {ORB_ID(vehicle_status)}

private

Definition at line 402 of file logger.h.

Referenced by start_stop_logging().

◆ _writer

LogWriter px4::logger::Logger::_writer

private

Definition at line 388 of file logger.h.

Referenced by configured_backend_mode(), run(), start_log_file(), start_log_mavlink(), stop_log_file(), stop_log_mavlink(), write_add_logged_msg(), write_all_add_logged_msg(), write_changed_parameters(), write_formats(), write_header(), write_info(), write_info_multiple(), write_info_template(), write_load_output(), write_message(), and write_parameters().

◆ LOG_ROOT

constexpr const char * px4::logger::Logger::LOG_ROOT

staticprivate

Initial value:

= {
        PX4_STORAGEDIR "/log",
        PX4_STORAGEDIR "/mission_log"
    }

Definition at line 178 of file logger.h.

Referenced by create_log_dir(), logger_main(), and run().

◆ MAX_MISSION_TOPICS_NUM

constexpr int px4::logger::Logger::MAX_MISSION_TOPICS_NUM = 5

staticprivate

Maximum number of mission topics.

Definition at line 176 of file logger.h.

Referenced by add_mission_topic().

◆ MAX_NO_LOGFILE

constexpr unsigned px4::logger::Logger::MAX_NO_LOGFILE = 999

staticprivate

Maximum number of log files.

Definition at line 177 of file logger.h.

Referenced by get_log_file_name().

◆ MAX_TOPICS_NUM

constexpr size_t px4::logger::Logger::MAX_TOPICS_NUM = 90

staticprivate

Maximum number of logged topics.

Definition at line 175 of file logger.h.

The documentation for this class was generated from the following files:

src/modules/logger/logger.h
src/modules/logger/logger.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ WrittenFormats

Member Enumeration Documentation

◆ LogMode

◆ PrintLoadReason

Constructor & Destructor Documentation

◆ Logger()

◆ ~Logger()

Member Function Documentation

◆ ack_vehicle_command()

◆ add_debug_topics()

◆ add_default_topics()

◆ add_estimator_replay_topics()

◆ add_high_rate_topics()

◆ add_mission_topic()

◆ add_sensor_comparison_topics()

◆ add_system_identification_topics()

◆ add_thermal_calibration_topics()

◆ add_topic() [1/2]

◆ add_topic() [2/2]

◆ add_topic_multi()

◆ add_topics_from_file()

◆ add_vision_and_avoidance_topics()

◆ can_start_mavlink_log()

◆ configured_backend_mode()

◆ copy_if_updated()

◆ create_log_dir()

◆ custom_command()

◆ debug_print_buffer()

◆ get_log_file_name()

◆ handle_vehicle_command_update()

◆ initialize_configured_topics()

◆ initialize_load_output()

◆ initialize_mission_topics()

◆ instantiate()

◆ perf_iterate_callback()

◆ print_load_callback()

◆ print_statistics()

◆ print_status()

◆ print_usage()

◆ request_stop_static()

◆ run()

◆ set_arm_override()

◆ setReplayFile()

◆ start_log_file()

◆ start_log_mavlink()

◆ start_stop_logging()

◆ stop_log_file()

◆ stop_log_mavlink()

◆ task_spawn()

◆ write_add_logged_msg()

◆ write_all_add_logged_msg()

◆ write_changed_parameters()

◆ write_console_output()

◆ write_format()

◆ write_formats()

◆ write_header()

◆ write_info() [1/3]

◆ write_info() [2/3]

◆ write_info() [3/3]

◆ write_info_multiple()

◆ write_info_template()

◆ write_load_output()

◆ write_message()

◆ write_parameters()

◆ write_perf_data()

◆ write_version()

Member Data Documentation

◆ _file_name

◆ _last_sync_time