Manages starting, stopping & writing of logged data using the configured backend. More...

#include <log_writer.h>

Collaboration diagram for px4::logger::LogWriter:

Public Types
typedef uint8_t	Backend
	bitfield to specify a backend More...

Public Member Functions
	LogWriter (Backend configured_backend, size_t file_buffer_size)

	~LogWriter ()

bool	init ()

Backend	backend () const

void	thread_stop ()
	stop all running threads and wait for them to exit More...

void	start_log_file (LogType type, const char *filename)

void	stop_log_file (LogType type)

void	start_log_mavlink ()

void	stop_log_mavlink ()

bool	is_started (LogType type) const
	whether logging is currently active or not (any of the selected backends). More...

bool	is_started (LogType type, Backend query_backend) const
	whether logging is currently active or not for a specific backend. More...

int	write_message (LogType type, void *ptr, size_t size, uint64_t dropout_start=0)
	Write a single ulog message (including header). More...

void	select_write_backend (Backend sel_backend)
	Select a backend, so that future calls to write_message() only write to the selected sel_backend, until unselect_write_backend() is called. More...

void	unselect_write_backend ()

void	lock ()

void	unlock ()

void	notify ()

size_t	get_total_written_file (LogType type) const

size_t	get_buffer_size_file (LogType type) const

size_t	get_buffer_fill_count_file (LogType type) const

pthread_t	thread_id_file () const

void	set_need_reliable_transfer (bool need_reliable)
	Indicate to the underlying backend whether future write_message() calls need a reliable transfer. More...

bool	need_reliable_transfer () const

Static Public Attributes
static constexpr Backend	BackendFile = 1 << 0

static constexpr Backend	BackendMavlink = 1 << 1

static constexpr Backend	BackendAll = BackendFile \| BackendMavlink

Private Attributes
LogWriterFile *	_log_writer_file = nullptr

LogWriterMavlink *	_log_writer_mavlink = nullptr

LogWriterFile *	_log_writer_file_for_write
	pointer that is used for writing, to temporarily select write backends More...

LogWriterMavlink *	_log_writer_mavlink_for_write = nullptr

const Backend	_backend

Detailed Description

Manages starting, stopping & writing of logged data using the configured backend.

Definition at line 48 of file log_writer.h.

Member Typedef Documentation

◆ Backend

typedef uint8_t px4::logger::LogWriter::Backend

bitfield to specify a backend

Definition at line 53 of file log_writer.h.

Constructor & Destructor Documentation

◆ LogWriter()

px4::logger::LogWriter::LogWriter	(	Backend	configured_backend,
		size_t	file_buffer_size
	)

Definition at line 41 of file log_writer.cpp.

References _log_writer_file, _log_writer_file_for_write, _log_writer_mavlink, _log_writer_mavlink_for_write, BackendFile, and BackendMavlink.

◆ ~LogWriter()

px4::logger::LogWriter::~LogWriter ( )

Definition at line 87 of file log_writer.cpp.

References _log_writer_file, and _log_writer_mavlink.

Member Function Documentation

◆ backend()

Backend px4::logger::LogWriter::backend ( ) const

inline

Definition at line 63 of file log_writer.h.

References _backend, is_started(), select_write_backend(), start_log_file(), start_log_mavlink(), stop_log_file(), stop_log_mavlink(), thread_stop(), and write_message().

Referenced by px4::logger::Logger::configured_backend_mode(), px4::logger::Logger::run(), and px4::logger::Logger::start_log_file().

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◆ get_buffer_fill_count_file()

size_t px4::logger::LogWriter::get_buffer_fill_count_file ( LogType type ) const

inline

Definition at line 134 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::get_buffer_fill_count().

Referenced by px4::logger::Logger::run().

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◆ get_buffer_size_file()

size_t px4::logger::LogWriter::get_buffer_size_file ( LogType type ) const

inline

Definition at line 127 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::get_buffer_size().

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◆ get_total_written_file()

size_t px4::logger::LogWriter::get_total_written_file ( LogType type ) const

inline

Definition at line 120 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::get_total_written().

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◆ init()

bool px4::logger::LogWriter::init ( )

Definition at line 61 of file log_writer.cpp.

References _log_writer_file, _log_writer_mavlink, px4::logger::LogWriterMavlink::init(), px4::logger::LogWriterFile::init(), and px4::logger::LogWriterFile::thread_start().

Referenced by px4::logger::Logger::run().

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◆ is_started() [1/2]

bool px4::logger::LogWriter::is_started ( LogType type ) const

whether logging is currently active or not (any of the selected backends).

Definition at line 98 of file log_writer.cpp.

References _log_writer_file, _log_writer_mavlink, px4::logger::Full, px4::logger::LogWriterMavlink::is_started(), and px4::logger::LogWriterFile::is_started().

Referenced by backend(), px4::logger::Logger::run(), px4::logger::Logger::start_log_file(), and px4::logger::Logger::stop_log_file().

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◆ is_started() [2/2]

bool px4::logger::LogWriter::is_started	(	LogType	type,
		Backend	query_backend
	)		const

whether logging is currently active or not for a specific backend.

Definition at line 113 of file log_writer.cpp.

References _log_writer_file, _log_writer_mavlink, BackendFile, BackendMavlink, px4::logger::Full, px4::logger::LogWriterMavlink::is_started(), and px4::logger::LogWriterFile::is_started().

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◆ lock()

void px4::logger::LogWriter::lock ( )

inline

Definition at line 105 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::lock().

Referenced by px4::logger::Logger::run(), px4::logger::Logger::write_all_add_logged_msg(), px4::logger::Logger::write_changed_parameters(), px4::logger::Logger::write_formats(), px4::logger::Logger::write_header(), px4::logger::Logger::write_info(), px4::logger::Logger::write_info_multiple(), px4::logger::Logger::write_info_template(), and px4::logger::Logger::write_parameters().

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◆ need_reliable_transfer()

bool px4::logger::LogWriter::need_reliable_transfer ( ) const

inline

Definition at line 160 of file log_writer.h.

References _log_writer_file, _log_writer_mavlink, px4::logger::LogWriterMavlink::need_reliable_transfer(), and px4::logger::LogWriterFile::need_reliable_transfer().

Referenced by px4::logger::Logger::write_add_logged_msg().

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◆ notify()

void px4::logger::LogWriter::notify ( )

inline

Definition at line 115 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::notify().

Referenced by px4::logger::Logger::run(), px4::logger::Logger::start_log_file(), px4::logger::Logger::start_log_mavlink(), px4::logger::Logger::write_changed_parameters(), and px4::logger::Logger::write_parameters().

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◆ select_write_backend()

void px4::logger::LogWriter::select_write_backend ( Backend sel_backend )

Select a backend, so that future calls to write_message() only write to the selected sel_backend, until unselect_write_backend() is called.

Parameters

backend

Definition at line 181 of file log_writer.cpp.

References _log_writer_file, _log_writer_file_for_write, _log_writer_mavlink, _log_writer_mavlink_for_write, BackendFile, and BackendMavlink.

Referenced by backend(), px4::logger::Logger::start_log_file(), px4::logger::Logger::start_log_mavlink(), and unselect_write_backend().

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◆ set_need_reliable_transfer()

void px4::logger::LogWriter::set_need_reliable_transfer ( bool need_reliable )

inline

Indicate to the underlying backend whether future write_message() calls need a reliable transfer.

Needed for header integrity.

Definition at line 153 of file log_writer.h.

References _log_writer_file, _log_writer_mavlink, px4::logger::LogWriterMavlink::set_need_reliable_transfer(), and px4::logger::LogWriterFile::set_need_reliable_transfer().

Referenced by px4::logger::Logger::start_log_file(), px4::logger::Logger::start_log_mavlink(), px4::logger::Logger::stop_log_file(), px4::logger::Logger::write_add_logged_msg(), and px4::logger::Logger::write_load_output().

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◆ start_log_file()

void px4::logger::LogWriter::start_log_file	(	LogType	type,
		const char *	filename
	)

Definition at line 126 of file log_writer.cpp.

References _log_writer_file, and px4::logger::LogWriterFile::start_log().

Referenced by backend(), and px4::logger::Logger::start_log_file().

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◆ start_log_mavlink()

void px4::logger::LogWriter::start_log_mavlink ( )

Definition at line 140 of file log_writer.cpp.

References _log_writer_mavlink, and px4::logger::LogWriterMavlink::start_log().

Referenced by backend(), and px4::logger::Logger::start_log_mavlink().

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◆ stop_log_file()

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

Definition at line 133 of file log_writer.cpp.

References _log_writer_file, and px4::logger::LogWriterFile::stop_log().

Referenced by backend(), and px4::logger::Logger::stop_log_file().

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◆ stop_log_mavlink()

void px4::logger::LogWriter::stop_log_mavlink ( )

Definition at line 147 of file log_writer.cpp.

References _log_writer_mavlink, and px4::logger::LogWriterMavlink::stop_log().

Referenced by backend(), and px4::logger::Logger::stop_log_mavlink().

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◆ thread_id_file()

pthread_t px4::logger::LogWriter::thread_id_file ( ) const

inline

Definition at line 141 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::thread_id().

Referenced by px4::logger::Logger::run().

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◆ thread_stop()

void px4::logger::LogWriter::thread_stop ( )

stop all running threads and wait for them to exit

Definition at line 154 of file log_writer.cpp.

References _log_writer_file, and px4::logger::LogWriterFile::thread_stop().

Referenced by backend(), and px4::logger::Logger::run().

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◆ unlock()

void px4::logger::LogWriter::unlock ( )

inline

Definition at line 110 of file log_writer.h.

References _log_writer_file, and px4::logger::LogWriterFile::unlock().

Referenced by px4::logger::Logger::run(), px4::logger::Logger::write_all_add_logged_msg(), px4::logger::Logger::write_changed_parameters(), px4::logger::Logger::write_formats(), px4::logger::Logger::write_header(), px4::logger::Logger::write_info(), px4::logger::Logger::write_info_multiple(), px4::logger::Logger::write_info_template(), and px4::logger::Logger::write_parameters().

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◆ unselect_write_backend()

void px4::logger::LogWriter::unselect_write_backend ( )

inline

Definition at line 101 of file log_writer.h.

References select_write_backend().

Referenced by px4::logger::Logger::start_log_file(), and px4::logger::Logger::start_log_mavlink().

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◆ write_message()

int px4::logger::LogWriter::write_message	(	LogType	type,
		void *	ptr,
		size_t	size,
		uint64_t	dropout_start = `0`
	)

Write a single ulog message (including header).

The caller must call lock() before calling this.

Parameters

dropout_start timestamp when lastest dropout occured. 0 if no dropout at the moment.

Returns: 0 on success (or if no logging started), -1 if not enough space in the buffer left (file backend), -2 mavlink backend failed add type -> pass through, but not to mavlink if mission log

Definition at line 161 of file log_writer.cpp.

References _log_writer_file_for_write, _log_writer_mavlink_for_write, px4::logger::Full, px4::logger::LogWriterMavlink::write_message(), and px4::logger::LogWriterFile::write_message().

Referenced by backend(), and px4::logger::Logger::write_message().

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Member Data Documentation

◆ _backend

const Backend px4::logger::LogWriter::_backend

private

Definition at line 178 of file log_writer.h.

Referenced by backend().

◆ _log_writer_file

LogWriterFile* px4::logger::LogWriter::_log_writer_file = nullptr

private

Definition at line 171 of file log_writer.h.

Referenced by get_buffer_fill_count_file(), get_buffer_size_file(), get_total_written_file(), init(), is_started(), lock(), LogWriter(), need_reliable_transfer(), notify(), select_write_backend(), set_need_reliable_transfer(), start_log_file(), stop_log_file(), thread_id_file(), thread_stop(), unlock(), and ~LogWriter().

◆ _log_writer_file_for_write

LogWriterFile* px4::logger::LogWriter::_log_writer_file_for_write

private

Initial value:

=

nullptr

pointer that is used for writing, to temporarily select write backends

Definition at line 174 of file log_writer.h.

Referenced by LogWriter(), select_write_backend(), and write_message().

◆ _log_writer_mavlink

LogWriterMavlink* px4::logger::LogWriter::_log_writer_mavlink = nullptr

private

Definition at line 172 of file log_writer.h.

Referenced by init(), is_started(), LogWriter(), need_reliable_transfer(), select_write_backend(), set_need_reliable_transfer(), start_log_mavlink(), stop_log_mavlink(), and ~LogWriter().

◆ _log_writer_mavlink_for_write

LogWriterMavlink* px4::logger::LogWriter::_log_writer_mavlink_for_write = nullptr

private

Definition at line 176 of file log_writer.h.

Referenced by LogWriter(), select_write_backend(), and write_message().

◆ BackendAll

constexpr Backend px4::logger::LogWriter::BackendAll = BackendFile | BackendMavlink

static

Definition at line 56 of file log_writer.h.

Referenced by px4::logger::Logger::configured_backend_mode(), and px4::logger::Logger::instantiate().

◆ BackendFile

constexpr Backend px4::logger::LogWriter::BackendFile = 1 << 0

static

Definition at line 54 of file log_writer.h.

Referenced by px4::logger::Logger::configured_backend_mode(), px4::logger::Logger::instantiate(), is_started(), LogWriter(), px4::logger::Logger::print_statistics(), px4::logger::Logger::print_status(), px4::logger::Logger::run(), select_write_backend(), px4::logger::Logger::start_log_file(), and px4::logger::Logger::stop_log_file().

◆ BackendMavlink

constexpr Backend px4::logger::LogWriter::BackendMavlink = 1 << 1

static

Definition at line 55 of file log_writer.h.

Referenced by px4::logger::Logger::can_start_mavlink_log(), px4::logger::Logger::configured_backend_mode(), px4::logger::Logger::instantiate(), is_started(), LogWriter(), px4::logger::Logger::print_status(), select_write_backend(), and px4::logger::Logger::start_log_mavlink().

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

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

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Backend

Constructor & Destructor Documentation

◆ LogWriter()

◆ ~LogWriter()

Member Function Documentation

◆ backend()

◆ get_buffer_fill_count_file()

◆ get_buffer_size_file()

◆ get_total_written_file()

◆ init()

◆ is_started() [1/2]

◆ is_started() [2/2]

◆ lock()

◆ need_reliable_transfer()

◆ notify()

◆ select_write_backend()

◆ set_need_reliable_transfer()

◆ start_log_file()

◆ start_log_mavlink()

◆ stop_log_file()

◆ stop_log_mavlink()

◆ thread_id_file()

◆ thread_stop()

◆ unlock()

◆ unselect_write_backend()

◆ write_message()

Member Data Documentation

◆ _backend

◆ _log_writer_file

◆ _log_writer_file_for_write

◆ _log_writer_mavlink

◆ _log_writer_mavlink_for_write

◆ BackendAll

◆ BackendFile

◆ BackendMavlink