[paparazzi-commits] [6073] onboard transport changes

[Allen Ibara]

Revision: 6073
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6073
Author:   aibara
Date:     2010-10-06 04:33:22 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
onboard transport changes

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/onboard_transport.c

Modified: paparazzi3/trunk/sw/airborne/fms/onboard_transport.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/onboard_transport.c        2010-10-06 
04:32:30 UTC (rev 6072)
+++ paparazzi3/trunk/sw/airborne/fms/onboard_transport.c        2010-10-06 
04:33:22 UTC (rev 6073)
@@ -6,6 +6,10 @@
 #include <unistd.h>
 #include <time.h>
 #include <string.h>
+#include <sys/time.h>
+#include <sys/resource.h>
+
+
 #include "onboard_transport.h"
 #include "downlink_transport.h"
 
@@ -31,52 +35,52 @@
       onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, " ");
     }
     switch (data_type) {
-      case DL_TYPE_UINT8:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hhu", * (const uint8_t *)bytes);
-        bytes = (const uint8_t *) bytes + 1;
-        break;
-      case DL_TYPE_UINT16:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hu", * (const uint16_t *)bytes);
-        bytes = (const uint16_t *) bytes + 2;
-        break;
-      case DL_TYPE_UINT32:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%u", * (const uint32_t *)bytes);
-        bytes = (const uint32_t *) bytes + 4;
-        break;
-      case DL_TYPE_UINT64:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%llu", *(const uint64_t *)bytes);
-        bytes = (const uint64_t *) bytes + 8;
-        break;
-      case DL_TYPE_INT8:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hhi", * (const int8_t *)bytes);
-        bytes = (const int8_t *) bytes + 1;
-        break;
-      case DL_TYPE_INT16:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hi", * (const int16_t *)bytes);
-        bytes = (const int16_t *) bytes + 2;
-        break;
-      case DL_TYPE_INT32:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%i", * (const int32_t *)bytes);
-        bytes = (const int32_t *) bytes + 4;
-        break;
-      case DL_TYPE_INT64:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%lli", *(const int64_t *)bytes);
-        bytes = (const int64_t *) bytes + 8;
-        break;
-      case DL_TYPE_FLOAT:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%#f", *(const float *)bytes);
-        bytes = (const float *) bytes + 4;
-        break;
-      case DL_TYPE_DOUBLE:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%#f", *(const double *)bytes);
-        bytes = (const double *) bytes + 8;
-        break;
-      case DL_TYPE_TIMESTAMP:
-        onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%u.%04u", (*(const uint32_t *)bytes) 
/ TIMESTAMP_SCALE,(*(const uint32_t *)bytes) % TIMESTAMP_SCALE);
-        bytes = (const uint32_t *) bytes + 4;
-        break;
-      case DL_TYPE_ARRAY_LENGTH:
-        break;
+    case DL_TYPE_UINT8:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hhu", * (const uint8_t *)bytes);
+      bytes = (const uint8_t *) bytes + 1;
+      break;
+    case DL_TYPE_UINT16:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hu", * (const uint16_t *)bytes);
+      bytes = (const uint16_t *) bytes + 2;
+      break;
+    case DL_TYPE_UINT32:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%u", * (const uint32_t *)bytes);
+      bytes = (const uint32_t *) bytes + 4;
+      break;
+    case DL_TYPE_UINT64:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%llu", *(const uint64_t *)bytes);
+      bytes = (const uint64_t *) bytes + 8;
+      break;
+    case DL_TYPE_INT8:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hhi", * (const int8_t *)bytes);
+      bytes = (const int8_t *) bytes + 1;
+      break;
+    case DL_TYPE_INT16:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%hi", * (const int16_t *)bytes);
+      bytes = (const int16_t *) bytes + 2;
+      break;
+    case DL_TYPE_INT32:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%i", * (const int32_t *)bytes);
+      bytes = (const int32_t *) bytes + 4;
+      break;
+    case DL_TYPE_INT64:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%lli", *(const int64_t *)bytes);
+      bytes = (const int64_t *) bytes + 8;
+      break;
+    case DL_TYPE_FLOAT:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%#f", *(const float *)bytes);
+      bytes = (const float *) bytes + 4;
+      break;
+    case DL_TYPE_DOUBLE:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%#f", *(const double *)bytes);
+      bytes = (const double *) bytes + 8;
+      break;
+    case DL_TYPE_TIMESTAMP:
+      onboard->buffer_idx += snprintf(onboard->buffer + onboard->buffer_idx, 
ONBOARD_BUFFER_LEN - onboard->buffer_idx, "%u.%04u", (*(const uint32_t *)bytes) 
/ TIMESTAMP_SCALE,(*(const uint32_t *)bytes) % TIMESTAMP_SCALE);
+      bytes = (const uint32_t *) bytes + 4;
+      break;
+    case DL_TYPE_ARRAY_LENGTH:
+      break;
     }
   }
 }
@@ -115,78 +119,82 @@
 
 static int check_free_space(void *onboard __attribute__((unused)), uint8_t 
bytes __attribute__((unused)))
 {
-       return TRUE;
+  return TRUE;
 }
 
 static uint8_t size_of(void *onboard __attribute__((unused)), uint8_t len)
 {
-       return len + 2;
+  return len + 2;
 }
 
 static int open_piped(char *filepath)
 {
-       int fd;
-       int pipe_fd[2];
-       int flags;
-       ssize_t count;
-       char buffer[LOG_BUFLEN];
+  int fd;
+  int pipe_fd[2];
+  int flags;
+  ssize_t count;
+  char buffer[LOG_BUFLEN];
 
-       if (pipe(pipe_fd) == -1) {
-               perror("onboard transport: pipe");
-       }
+  if (pipe(pipe_fd) == -1) {
+    perror("onboard transport: pipe");
+  }
 
-       fd = open(filepath, O_CREAT | O_RDWR, 0644);
-       if (fd < 0) {
-               perror("onboard log: open");
-       }
+  fd = open(filepath, O_CREAT | O_RDWR, 0644);
+  if (fd < 0) {
+    perror("onboard log: open");
+  }
 
-       if (fork() == 0) {
-               // This is the child, close the write side of the pipe
-               close(pipe_fd[1]);
-               int retval;
+  if (fork() == 0) {
+    // This is the child, close the write side of the pipe
+    close(pipe_fd[1]);
+    int retval;
 
-               // copy from the read side of the pipe to the log
-               while (1) {
-                       count = read(pipe_fd[0], buffer, LOG_BUFLEN);
-                       if (count < 0) {
-                               // error, presumably the pipe is closed
-                               break;
-                       }
-                       retval = write(fd, buffer, count);
-               }
-       } else {
-               // This is the parent, close the read side of the pipe
-               close(pipe_fd[0]);
+    /* Lower our priority -- logging is not that important */
+    if (setpriority(PRIO_PROCESS, 0, 10) < 0) 
+      fprintf(stderr, "Couldn't renice logger for some reason!\n");
 
-               // Close the log file
-               close(fd);
+    // copy from the read side of the pipe to the log
+    while (1) {
+      count = read(pipe_fd[0], buffer, LOG_BUFLEN);
+      if (count < 0) {
+        // error, presumably the pipe is closed
+        break;
+      }
+      retval = write(fd, buffer, count);
+    }
+  } else {
+    // This is the parent, close the read side of the pipe
+    close(pipe_fd[0]);
 
-               // set non blocking on the write side of the pipe
-               flags = fcntl( pipe_fd[1], F_GETFL );
-               fcntl(pipe_fd[1], F_SETFL, flags | O_NONBLOCK);
+    // Close the log file
+    close(fd);
 
-               // return the write side of the pipe
-               fd = pipe_fd[1];
-       }
+    // set non blocking on the write side of the pipe
+    flags = fcntl( pipe_fd[1], F_GETFL );
+    fcntl(pipe_fd[1], F_SETFL, flags | O_NONBLOCK);
 
-       return fd;
+    // return the write side of the pipe
+    fd = pipe_fd[1];
+  }
+
+  return fd;
 }
 
 static void make_filename(char *filename)
 {
-       time_t t;
-       t = time(NULL);
-       struct tm *tmp;
+  time_t t;
+  t = time(NULL);
+  struct tm *tmp;
 
-       tmp = localtime(&t);
-       if (tmp == NULL) {
-               perror("localtime");
-       }
+  tmp = localtime(&t);
+  if (tmp == NULL) {
+    perror("localtime");
+  }
 
-       // format DM_HHMM_SS
-       if (strftime(filename, FILENAME_LEN, "log_%d_%H%M_%S.data", tmp) == 0) {
-               fprintf(stderr, "strftime returned 0");
-       }
+  // format DM_HHMM_SS
+  if (strftime(filename, FILENAME_LEN, "log_%d_%H%M_%S.data", tmp) == 0) {
+    fprintf(stderr, "strftime returned 0");
+  }
 }
 
 struct DownlinkTransport *onboard_transport_new(char *filepath, uint32_t 
*timestamp)