text: /****************************************************************************
   *
   *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #pragma once
  
  #include "log_writer.h"
  #include "messages.h"
  #include <containers/Array.hpp>
  #include "util.h"
  #include <px4_platform_common/defines.h>
  #include <drivers/drv_hrt.h>
  #include <version/version.h>
  #include <parameters/param.h>
  #include <systemlib/printload.h>
  #include <px4_platform_common/module.h>
  
  #include <uORB/PublicationMulti.hpp>
  #include <uORB/Subscription.hpp>
  #include <uORB/SubscriptionInterval.hpp>
  #include <uORB/topics/logger_status.h>
  #include <uORB/topics/log_message.h>
  #include <uORB/topics/manual_control_setpoint.h>
  #include <uORB/topics/vehicle_command.h>
  #include <uORB/topics/vehicle_status.h>
  
  extern "C" __EXPORT int logger_main(int argc, char *argv[]);
  
  static constexpr hrt_abstime TRY_SUBSCRIBE_INTERVAL{1000 * 1000};	// interval in microseconds at which we try to subscribe to a topic
  // if we haven't succeeded before
  
  namespace px4
  {
  namespace logger
  {
  
  static constexpr uint8_t MSG_ID_INVALID = UINT8_MAX;
  
  struct LoggerSubscription : public uORB::SubscriptionInterval {
  
  	uint8_t msg_id{MSG_ID_INVALID};
  
  	LoggerSubscription() = default;
  
  	LoggerSubscription(const orb_metadata *meta, uint32_t interval_ms = 0, uint8_t instance = 0) :
  		uORB::SubscriptionInterval(meta, interval_ms * 1000, instance)
  	{}
  };
  
  class Logger : public ModuleBase<Logger>
  {
  public:
  	enum class LogMode {
  		while_armed = 0,
  		boot_until_disarm,
  		boot_until_shutdown,
  		rc_aux1
  	};
  
  	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();
  
  	/** @see ModuleBase */
  	static int task_spawn(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static Logger *instantiate(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static int custom_command(int argc, char *argv[]);
  
  	/** @see ModuleBase */
  	static int print_usage(const char *reason = nullptr);
  
  	/** @see ModuleBase::run() */
  	void run() override;
  
  	/** @see ModuleBase::print_status() */
  	int print_status() override;
  
  	/**
  	 * Tell the logger that we're in replay mode. This must be called
  	 * before starting the logger.
  	 * @param file_name file name of the used log replay file. Will be copied.
  	 */
  	void setReplayFile(const char *file_name);
  
  	/**
  	 * request the logger thread to stop (this method does not block).
  	 * @return true if the logger is stopped, false if (still) running
  	 */
  	static bool request_stop_static();
  
  	void print_statistics(LogType type);
  
  	void set_arm_override(bool override) { _manually_logging_override = override; }
  
  private:
  
  	enum class PrintLoadReason {
  		Preflight,
  		Postflight,
  		Watchdog
  	};
  
  	static constexpr int		MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */
  	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
  	static constexpr const char	*LOG_ROOT[(int)LogType::Count] = {
  		PX4_STORAGEDIR "/log",
  		PX4_STORAGEDIR "/mission_log"
  	};
  
  	struct LogFileName {
  		char log_dir[12];           ///< e.g. "2018-01-01" or "sess001"
  		int sess_dir_index{1};      ///< search starting index for 'sess<i>' directory name
  		char log_file_name[31];     ///< e.g. "log001.ulg" or "12_09_00_replayed.ulg"
  		bool has_log_dir{false};
  	};
  
  	struct Statistics {
  		hrt_abstime start_time_file{0};				///< Time when logging started, file backend (not the logger thread)
  		hrt_abstime dropout_start{0};				///< start of current dropout (0 = no dropout)
  		float max_dropout_duration{0.0f};			///< max duration of dropout [s]
  		size_t write_dropouts{0};				///< failed buffer writes due to buffer overflow
  		size_t high_water{0};					///< maximum used write buffer
  	};
  
  	struct MissionSubscription {
  		unsigned min_delta_ms{0};        ///< minimum time between 2 topic writes [ms]
  		unsigned next_write_time{0};     ///< next time to write in 0.1 seconds
  	};
  
  	/**
  	 * Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances
  	 */
  	void write_all_add_logged_msg(LogType type);
  
  	/**
  	 * Write an ADD_LOGGED_MSG to the log for a given subscription and instance.
  	 * _writer.lock() must be held when calling this.
  	 */
  	void write_add_logged_msg(LogType type, LoggerSubscription &subscription);
  
  	/**
  	 * Create logging directory
  	 * @param type
  	 * @param tt if not null, use it for the directory name
  	 * @param log_dir returned log directory path
  	 * @param log_dir_len log_dir buffer length
  	 * @return string length of log_dir (excluding terminating null-char), <0 on error
  	 */
  	int create_log_dir(LogType type, tm *tt, char *log_dir, int log_dir_len);
  
  	/**
  	 * Get log file name with directory (create it if necessary)
  	 */
  	int get_log_file_name(LogType type, char *file_name, size_t file_name_size);
  
  	void start_log_file(LogType type);
  
  	void stop_log_file(LogType type);
  
  	void start_log_mavlink();
  
  	void stop_log_mavlink();
  
  	/** check if mavlink logging can be started */
  	bool can_start_mavlink_log() const
  	{
  		return !_writer.is_started(LogType::Full, LogWriter::BackendMavlink)
  		       && (_writer.backend() & LogWriter::BackendMavlink) != 0;
  	}
  
  	/** get the configured backend as string */
  	const char *configured_backend_mode() const;
  
  	/**
  	 * write the file header with file magic and timestamp.
  	 */
  	void write_header(LogType type);
  
  	/// Array to store written formats for nested definitions (only)
  	using WrittenFormats = Array < const orb_metadata *, 20 >;
  
  	void write_format(LogType type, const orb_metadata &meta, WrittenFormats &written_formats, ulog_message_format_s &msg,
  			  int subscription_index, int level = 1);
  	void write_formats(LogType type);
  
  	/**
  	 * write performance counters
  	 * @param preflight preflight if true, postflight otherwise
  	 */
  	void write_perf_data(bool preflight);
  
  	/**
  	 * write bootup console output
  	 */
  	void write_console_output();
  
  	/**
  	 * callback to write the performance counters
  	 */
  	static void perf_iterate_callback(perf_counter_t handle, void *user);
  
  	/**
  	 * callback for print_load_buffer() to print the process load
  	 */
  	static void print_load_callback(void *user);
  
  	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);
  
  	/** generic common template method for write_info variants */
  	template<typename T>
  	void write_info_template(LogType type, const char *name, T value, const char *type_str);
  
  	void write_parameters(LogType type);
  
  	void write_changed_parameters(LogType type);
  
  	inline bool copy_if_updated(int sub_idx, void *buffer, bool try_to_subscribe);
  
  	/**
  	 * Write exactly one ulog message to the logger and handle dropouts.
  	 * Must be called with _writer.lock() held.
  	 * @return true if data written, false otherwise (on overflow)
  	 */
  	bool write_message(LogType type, void *ptr, size_t size);
  
  	/**
  	 * Add topic subscriptions from SD file if it exists, otherwise add topics based on the configured profile.
  	 * This must be called before start_log() (because it does not write an ADD_LOGGED_MSG message).
  	 * @return true on success
  	 */
  	bool initialize_topics(MissionLogType mission_log_mode);
  
  	/**
  	 * Determines if log-from-boot should be disabled, based on the value of SDLOG_BOOT_BAT and the battery status.
  	 * @return true if log-from-boot should be disabled
  	 */
  	bool get_disable_boot_logging();
  
  	/**
  	 * check current arming state or aux channel and start/stop logging if state changed and according to
  	 * configured params.
  	 * @param vehicle_status_sub
  	 * @param manual_control_sp_sub
  	 * @param mission_log_type
  	 * @return true if log started
  	 */
  	bool start_stop_logging(MissionLogType mission_log_type);
  
  	void handle_vehicle_command_update();
  	void ack_vehicle_command(vehicle_command_s *cmd, uint32_t result);
  
  	/**
  	 * initialize the output for the process load, so that ~1 second later it will be written to the log
  	 */
  	void initialize_load_output(PrintLoadReason reason);
  
  	/**
  	 * write the process load, which was previously initialized with initialize_load_output()
  	 */
  	void write_load_output();
  
  	/**
  	 * Regularly print the buffer fill state (only if DBGPRINT is set)
  	 * @param total_bytes total written bytes (to the full file), will be reset on each print
  	 * @param timer_start time since last print
  	 */
  	inline void debug_print_buffer(uint32_t &total_bytes, hrt_abstime &timer_start);
  
  
  	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)
  	bool						_manually_logging_override{false};
  
  	Statistics					_statistics[(int)LogType::Count];
  	hrt_abstime					_last_sync_time{0}; ///< last time a sync msg was sent
  
  	LogMode						_log_mode;
  	const bool					_log_name_timestamp;
  
  	LoggerSubscription	 			*_subscriptions{nullptr}; ///< all subscriptions for full & mission log (in front)
  	int						_num_subscriptions{0};
  	MissionSubscription 				_mission_subscriptions[MAX_MISSION_TOPICS_NUM] {}; ///< additional data for mission subscriptions
  	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
  	orb_advert_t					_mavlink_log_pub{nullptr};
  	uint8_t						_next_topic_id{0}; ///< id of next subscribed ulog topic
  	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) */
  	print_load_s					_load{}; ///< process load data
  	hrt_abstime					_next_load_print{0}; ///< timestamp when to print the process load
  	PrintLoadReason					_print_load_reason {PrintLoadReason::Preflight};
  
  	uORB::PublicationMulti<logger_status_s>		_logger_status_pub[2] { ORB_ID(logger_status), ORB_ID(logger_status) };
  	hrt_abstime					_logger_status_last{0};
  
  	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};
  	param_t						_boot_bat_only{PARAM_INVALID};
  };
  
  } //namespace logger
  } //namespace px4
  