{"action":"created","comment":{"url":"https://api.github.com/repos/TauLabs/TauLabs/pulls/comments/41658142","id":41658142,"diff_hunk":"@@ -232,107 +219,92 @@ static void loggingTask(void *parameters)\n \t\t\t}\n \t\t}\n \n-\n-\t\t// If currently downloading a log, close the file\n-\t\tif (loggingData.Operation == LOGGINGSTATS_OPERATION_LOGGING && read_open) {\n-\t\t\tPIOS_STREAMFS_Close(streamfs_id);\n-\t\t\tread_open = false;\n-\t\t}\n-\n-\t\tif (loggingData.Operation == LOGGINGSTATS_OPERATION_LOGGING && !write_open) {\n-\t\t\tif (PIOS_STREAMFS_OpenWrite(streamfs_id) != 0) {\n-\t\t\t\tloggingData.Operation = LOGGINGSTATS_OPERATION_ERROR;\n-\t\t\t} else {\n-\t\t\t\twrite_open = true;\n+\t\tswitch (loggingData.Operation) {\n+\t\tcase LOGGINGSTATS_OPERATION_FORMAT:\n+\t\t\t// Format the file system\n+\t\t\tif (read_open  || write_open) {\n+\t\t\t\tPIOS_STREAMFS_Close(streamfs_id);\n+\t\t\t\tread_open = false;\n+\t\t\t\twrite_open = false;\n \t\t\t}\n-\t\t\tloggingData.MinFileId = PIOS_STREAMFS_MinFileId(streamfs_id);\n-\t\t\tloggingData.MaxFileId = PIOS_STREAMFS_MaxFileId(streamfs_id);\n-\t\t\tLoggingStatsSet(&loggingData);\n-\t\t} else if (loggingData.Operation != LOGGINGSTATS_OPERATION_LOGGING && write_open) {\n-\t\t\tPIOS_STREAMFS_Close(streamfs_id);\n-\t\t\tloggingData.MinFileId = PIOS_STREAMFS_MinFileId(streamfs_id);\n-\t\t\tloggingData.MaxFileId = PIOS_STREAMFS_MaxFileId(streamfs_id);\n-\t\t\tLoggingStatsSet(&loggingData);\n-\t\t\twrite_open = false;\n-\t\t}\n \n-\t\tswitch (loggingData.Operation) {\n-\t\tcase LOGGINGSTATS_OPERATION_LOGGING:\n-\t\t\tif (!write_open)\n-\t\t\t\tcontinue;\n+\t\t\tPIOS_STREAMFS_Format(streamfs_id);\n+\t\t\tloggingData.Operation = LOGGINGSTATS_OPERATION_IDLE;\n+\t\t\tLoggingStatsSet(&loggingData);\n+\t\t\tbreak;\n+\t\tcase LOGGINGSTATS_OPERATION_LOGGING_INITIALIZING:\n+\t\t\t// Close the file if it is open for reading\n+\t\t\tif (read_open) {\n+\t\t\t\tPIOS_STREAMFS_Close(streamfs_id);\n+\t\t\t\tread_open = false;\n+\t\t\t}\n+\t\t\t// Open the file if it is not open for writing\n+\t\t\tif (!write_open) {\n+\t\t\t\tif (PIOS_STREAMFS_OpenWrite(streamfs_id) != 0) {\n+\t\t\t\t\tloggingData.Operation = LOGGINGSTATS_OPERATION_ERROR;\n+\t\t\t\t\tcontinue;\n+\t\t\t\t} else {\n+\t\t\t\t\twrite_open = true;\n+\t\t\t\t}\n+\t\t\t\tloggingData.MinFileId = PIOS_STREAMFS_MinFileId(streamfs_id);\n+\t\t\t\tloggingData.MaxFileId = PIOS_STREAMFS_MaxFileId(streamfs_id);\n+\t\t\t\tLoggingStatsSet(&loggingData);\n \n-\t\t\tif (first_run){\n \t\t\t\t// Write information at start of the log file\n \t\t\t\twriteHeader();\n \n-\t\t\t\t// Log settings\n-\t\t\t\tif (settings.LogSettingsOnStart == LOGGINGSETTINGS_LOGSETTINGSONSTART_TRUE){\n-\t\t\t\t\tUAVObjIterate(&logSettings);\n-\t\t\t\t}\n-\n-\t\t\t\t// Log some data objects that are unlikely to change during flight\n-\t\t\t\t// Waypoints\n-\t\t\t\tif (WaypointHandle()){\n-\t\t\t\t\tfor (int i = 0; i < UAVObjGetNumInstances(WaypointHandle()); i++) {\n-\t\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, WaypointHandle(), i, false, 0);\n+\t\t\t\t// When the file is first created, traverse the linked list and\n+\t\t\t\t// log all UAVObjects, settings and data alike.\n+\t\t\t\tLL_FOREACH(log_info, info) {\n+\t\t\t\t\t// Iterate over all instances.\n+\t\t\t\t\tuint16_t numInstances = UAVObjGetNumInstances(info->obj);\n+\t\t\t\t\tfor (int instId=0; instId<numInstances; instId++) {\n+\t\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, info->obj, instId, false, 0);\n \t\t\t\t\t}\n+\t\t\t\t\t// use a random offset, so that not all objects are logged at the same time\n+\t\t\t\t\tinfo->next_log =  PIOS_Thread_Systime() + randomize_int(info->logging_period);\n \t\t\t\t}\n-\n-\t\t\t\t// Trigger logging for objects that are logged on change\n-\t\t\t\tflightstatus_updated = true;\n-\t\t\t\twaypoint_updated = true;\n-\n-\t\t\t\tfirst_run = false;\n-\t\t\t}\n-\n-\t\t\t// Log objects on change\n-\t\t\tif (flightstatus_updated){\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, FlightStatusHandle(), 0, false, 0);\n-\t\t\t\tflightstatus_updated = false;\n-\t\t\t}\n-\n-\t\t\tif (waypoint_updated && WaypointActiveHandle()){\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, WaypointActiveHandle(), 0, false, 0);\n-\t\t\t\twaypoint_updated = false;\n \t\t\t}\n-\n-\t\t\t// Log very fast\n-\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, AccelsHandle(), 0, false, 0);\n-\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, GyrosHandle(), 0, false, 0);\n-\n-\t\t\t// Log a bit slower\n-\t\t\tif ((i % 2) == 0) {\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, AttitudeActualHandle(), 0, false, 0);\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, MagnetometerHandle(), 0, false, 0);\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, ManualControlCommandHandle(), 0, false, 0);\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, ActuatorCommandHandle(), 0, false, 0);\n-\t\t\t}\n-\n-\t\t\t// Log slower\n-\t\t\tif ((i % 10) == 1) {\n-\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, BaroAltitudeHandle(), 0, false, 0);\n-\t\t\t\tif (AirspeedActualHandle())\n-\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, AirspeedActualHandle(), 0, false, 0);\n-\t\t\t\tif (GPSPositionHandle())\n-\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, GPSPositionHandle(), 0, false, 0);\n-\t\t\t\tif (PositionActualHandle())\n-\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, PositionActualHandle(), 0, false, 0);\n-\t\t\t\tif (VelocityActualHandle())\n-\t\t\t\t\tUAVTalkSendObjectTimestamped(uavTalkCon, VelocityActualHandle(), 0, false, 0);\n+\t\t\t// Empty the queues\n+\t\t\twhile(PIOS_Queue_Receive(shared_queue, &ev, 0))\n+\t\t\tLL_FOREACH(log_info, info) {\n+\t\t\t\tif (info->queue == shared_queue){\n+\t\t\t\t\t// The list is sorted based on the logging period, so we can stop as soon\n+\t\t\t\t\t// as we have an item without a private queue (as subsequent items won't \n+\t\t\t\t\t// have a private queue either).\n+\t\t\t\t\tbreak;\n+\t\t\t\t}\n+\t\t\t\twhile(PIOS_Queue_Receive(info->queue, &ev, 0)){};\n \t\t\t}\n+\t\t\tLoggingStatsBytesLoggedSet(&written_bytes);\n+\t\t\tloggingData.Operation = LOGGINGSTATS_OPERATION_LOGGING;\n+\t\t\tLoggingStatsSet(&loggingData);\n+\t\t\tbreak;\n+\t\tcase LOGGINGSTATS_OPERATION_LOGGING:\n+\t\t\t{\n+\t\t\t\t// Sleep between writing\n+\t\t\t\tPIOS_Thread_Sleep_Until(&now, LOGGING_PERIOD_MS);\n+\n+\t\t\t\t// Log the objects with private queues\n+\t\t\t\tfor (int i=0; i<PRIVATE_QUEUE_SIZE; i++){","path":"flight/Modules/Logging/logging.c","position":355,"original_position":355,"commit_id":"b4e2688725aeb796d8fcdcc5973d8bb05bdc88ff","original_commit_id":"b4e2688725aeb796d8fcdcc5973d8bb05bdc88ff","user":{"login":"mlyle","id":90903,"avatar_url":"https://avatars.githubusercontent.com/u/90903?v=3","gravatar_id":"","url":"https://api.github.com/users/mlyle","html_url":"https://github.com/mlyle","followers_url":"https://api.github.com/users/mlyle/followers","following_url":"https://api.github.com/users/mlyle/following{/other_user}","gists_url":"https://api.github.com/users/mlyle/gists{/gist_id}","starred_url":"https://api.github.com/users/mlyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlyle/subscriptions","organizations_url":"https://api.github.com/users/mlyle/orgs","repos_url":"https://api.github.com/users/mlyle/repos","events_url":"https://api.github.com/users/mlyle/events{/privacy}","received_events_url":"https://api.github.com/users/mlyle/received_events","type":"User","site_admin":false},"body":"Let me actually take a couple minutes to write that.","created_at":"2015-10-09T17:48:35Z","updated_at":"2015-10-09T17:48:35Z","html_url":"https://github.com/TauLabs/TauLabs/pull/1928#discussion_r41658142","pull_request_url":"https://api.github.com/repos/TauLabs/TauLabs/pulls/1928","_links":{"self":{"href":"https://api.github.com/repos/TauLabs/TauLabs/pulls/comments/41658142"},"html":{"href":"https://github.com/TauLabs/TauLabs/pull/1928#discussion_r41658142"},"pull_request":{"href":"https://api.github.com/repos/TauLabs/TauLabs/pulls/1928"}}},"pull_request":{"url":"https://api.github.com/repos/TauLabs/TauLabs/pulls/1928","id":44691657,"html_url":"https://github.com/TauLabs/TauLabs/pull/1928","diff_url":"https://github.com/TauLabs/TauLabs/pull/1928.diff","patch_url":"https://github.com/TauLabs/TauLabs/pull/1928.patch","issue_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1928","number":1928,"state":"open","locked":false,"title":"Logging module improvements","user":{"login":"mluessi","id":647005,"avatar_url":"https://avatars.githubusercontent.com/u/647005?v=3","gravatar_id":"","url":"https://api.github.com/users/mluessi","html_url":"https://github.com/mluessi","followers_url":"https://api.github.com/users/mluessi/followers","following_url":"https://api.github.com/users/mluessi/following{/other_user}","gists_url":"https://api.github.com/users/mluessi/gists{/gist_id}","starred_url":"https://api.github.com/users/mluessi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mluessi/subscriptions","organizations_url":"https://api.github.com/users/mluessi/orgs","repos_url":"https://api.github.com/users/mluessi/repos","events_url":"https://api.github.com/users/mluessi/events{/privacy}","received_events_url":"https://api.github.com/users/mluessi/received_events","type":"User","site_admin":false},"body":"Adds several improvements to the logging module:\r\n\r\n- The logging module now respects the `logging_period` set in the UAVO meta data, so anything can be logged without having to modify the code.\r\n- Ability to format the flash file system, which helps when logging things fast (as no erasing of pages is required).\r\n\r\nThe `logging_period` of all UAVOs have been set to sane defaults (can be changed on request). For settings objects, the `logging_period = 1` is used, which means they are logged whenever they are changed (which should happen infrequently when armed)\r\n\r\nThe greater flexibility comes at some cost. With the default settings in the PR, the module uses about 5% of the CPU (STM32F4, 168MHz) and 4kB of heap memory. Note that most of the memory should be allocatable in fast heap (see #1865). The current logging module uses about 1% of the CPU and almost no heap.\r\n\r\nThings that could be improved:\r\n- CPU utilization could be reduced. One way could be to use DMA with a callback in the flash fs driver, so the module doesn't have to wait while writing flash.\r\n- Provide a way for the user to easily configure logging rates of all UAVOs. E.g. by extending the telemetry scheduler.\r\n\r\n@kubark42 and I have been using this module over the last few months and it has proven to be very useful for development purposes. Suggestions for improvements and comments in general are welcome :).\r\n\r\n\r\n","created_at":"2015-09-10T16:49:20Z","updated_at":"2015-10-09T17:48:35Z","closed_at":null,"merged_at":null,"merge_commit_sha":"df365191e234b96a1d4c5cb3136b200eac22f94e","assignee":null,"milestone":{"url":"https://api.github.com/repos/TauLabs/TauLabs/milestones/2","html_url":"https://github.com/TauLabs/TauLabs/milestones/Pyreneus%20release","labels_url":"https://api.github.com/repos/TauLabs/TauLabs/milestones/2/labels","id":1280915,"number":2,"title":"Pyreneus release","description":"Placeholder for release after endomorphism.\r\n\r\nRelease named by @TracerNZ.  Hopefully it's not similarly futile. 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