[UNFINISHED] Meta Logging

MIDAS/platformio.ini

@@ -111,4 +111,4 @@ build_unflags =
 lib_deps =
     Eigen
 lib_ignore =
-    TCAL9538
+    TCAL9539

MIDAS/src/data_logging.cpp

@@ -90,6 +90,8 @@ void log_data(LogSink& sink, RocketData& data) {
     log_from_sensor_data(sink, data.cam_data);
 }
 
+
+
 #ifndef SILSIM
 #define MAX_FILES 999
 

MIDAS/src/data_logging.h

@@ -11,6 +11,9 @@
 //#include "hardware/Emmc.h"
 #endif
 
+
+
+
 /**
  * @class LogSink
  * 
@@ -23,6 +26,7 @@ class LogSink {
     virtual ErrorCode init() = 0;
     virtual void write(const uint8_t* data, size_t size) = 0;
 
+    virtual void write_meta(const uint8_t* data, size_t size) = 0;
     uint16_t current_file_no = 0;
 };
 
@@ -39,6 +43,8 @@ class MultipleLogSink : public LogSink {
     };
 
     void write(const uint8_t* data, size_t size) override {};
+
+    void write_meta(const uint8_t* data, size_t size) override {};
 };
 
 template<typename Sink, typename... Sinks>
@@ -59,6 +65,11 @@ class MultipleLogSink<Sink, Sinks...> : public LogSink {
         sinks.write(data, size);
     };
 
+    void write_meta(const uint8_t* data, size_t size) override {
+        sink.write(data, size);
+        sinks.write(data, size);
+    };
+
 private:
     Sink sink;
     MultipleLogSink<Sinks...> sinks;

MIDAS/src/data_logging_meta.cpp

@@ -0,0 +1,32 @@
+#include "data_logging_meta.h"
+#include "log_format.h"
+#include "log_checksum.h"
+
+/*
+
+Queue<MetaLogging::MetaLogEntry> _q;
+
+bool MetaLogging::get_queued(MetaLogEntry* out) { return _q.receive(out); }
+
+void log_event(MetaDataCode event_type, uint32_t timestamp) {
+    MetaLogging::MetaLogEntry entry{event_type, 0, 0};
+    entry.size = sizeof(uint32_t);
+    memcpy(entry.data, &timestamp, entry.size);
+    _q.send(entry);
+}
+
+template <typename T>
+void log_data(MetaDataCode data_type, const T& data) {
+
+    // double check...
+    static_assert(sizeof(T) <= META_LOGGING_MAX_SIZE, "Datatype for log_data too large");
+
+    MetaLogEntry entry{data_type, 0, 0};
+    entry.size = sizeof(T);
+    memcpy(entry.data, &data, entry.size);
+    _q.send(entry);
+
+
+}
+
+*/

MIDAS/src/data_logging_meta.h

@@ -0,0 +1,42 @@
+#pragma once
+//#include "rocket_state.h"
+//#include "errors.h"
+
+/*
+
+#define META_LOGGING_MAX_SIZE 64
+
+enum MetaDataCode {
+    // Launch events
+    EVENT_TLAUNCH,
+    EVENT_TBURNOUT,
+    EVENT_TIGNITION,
+    EVENT_TAPOGEE,
+    EVENT_TMAIN,
+
+    // Non-events
+    DATA_LAUNCHSITE_BARO,
+    DATA_LAUNCHSITE_GPS,
+    DATA_LAUNCH_INITIAL_TILT,
+    DATA_TILT_AT_BURNOUT,
+    DATA_TILT_AT_IGNITION
+};
+
+struct MetaLogging {
+
+    public:
+    struct MetaLogEntry {
+        MetaDataCode log_type;
+        char data[META_LOGGING_MAX_SIZE];
+        size_t size;
+    };
+
+    bool get_queued(MetaLogEntry* out);
+
+    void log_event(MetaDataCode event_type, uint32_t timestamp);
+
+    template <typename T>
+    void log_data(MetaDataCode data_type, const T& data);
+};
+
+*/

MIDAS/src/esp_eeprom_checksum.h

@@ -0,0 +1,2 @@
+// autogenerated on build by applying crc32 on esp_eeprom_format.h
+#define EEPROM_CHECKSUM (0xcfa22d7d)

MIDAS/src/finite-state-machines/fsm.cpp

@@ -84,7 +84,11 @@ StateEstimate::StateEstimate(RocketData& state) {
  * 
  * @return New FSM State
 */
-FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFlags& commands) {
+FSMState FSM::tick_fsm(RocketData& sys) {
+    FSMState state = sys.fsm_state.getRecentUnsync();
+    StateEstimate state_estimate(sys);
+    CommandFlags& commands = sys.command_flags;
+
     //get current time
     double current_time = pdTICKS_TO_MS(xTaskGetTickCount());
 
@@ -338,7 +342,11 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla
  * 
  * @return New FSM State
 */
-FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFlags& commands) {
+FSMState FSM::tick_fsm(RocketData& sys) {
+    FSMState state = sys.fsm_state.getRecentUnsync();
+    StateEstimate state_estimate(sys);
+    CommandFlags& commands = sys.command_flags;
+
     double current_time = pdTICKS_TO_MS(xTaskGetTickCount());
 
     switch (state) {

MIDAS/src/finite-state-machines/fsm.h

@@ -32,7 +32,11 @@ class FSM {
 public:
     FSM() = default;
 
-    FSMState tick_fsm(FSMState& curr_state, StateEstimate state_estimate, CommandFlags& commands);
+    //  FSMState tick_fsm(FSMState& curr_state, StateEstimate state_estimate, CommandFlags& commands);
+
+    // Constructor for the metadata
+    // Created so that FSMState, StateEstimate, and CommandFlags objects can supercede the mutex lock
+    FSMState tick_fsm(RocketData& sys);
 
 private:
     double launch_time;

MIDAS/src/hardware/SDLog.cpp

@@ -34,16 +34,23 @@ ErrorCode SDSink::init() {
     int filenumber = -1;
     sdFileNamer(file_name, ext, SD_MMC, current_file_no, &filenumber);
 
-
     if(filenumber != -1) {
         Serial.print("[SD] Beginning log: "); Serial.println(current_file_no);
     } else {
         failed = true;
         return ErrorCode::SDBeginFailed;
     }
 
+    char meta_name[255] = {0};
+    strcpy(meta_name, file_name);
+    char* extpos = strrchr(meta_name, '.');
+    if (extpos) {
+        strcpy(extpos, ".meta");
+    }
+
     file = SD_MMC.open(file_name, FILE_WRITE, true);
-    if (!file) {
+    meta = SD_MMC.open(meta_name, FILE_WRITE, true);
+    if (!file || !meta) {
         failed = true;
         return ErrorCode::SDCouldNotOpenFile;
     }
@@ -73,4 +80,16 @@ void SDSink::write(const uint8_t* data, size_t size) {
             unflushed_bytes = 0;
         }
     }
+
+    return;
 }
+
+void SDSink::write_meta(const uint8_t* data, size_t size) {
+    if (failed) { return; }
+
+    file.write(data, size);
+    file.write('\n');
+    file.flush(); // Meta writes are infrequent, so flushing is OK.
+
+    return;
+}

MIDAS/src/hardware/SDLog.h

@@ -19,7 +19,9 @@ class SDSink : public LogSink {
 
     ErrorCode init() override;
     void write(const uint8_t* data, size_t size) override;
+    void write_meta(const uint8_t* data, size_t size) override;
 private:
     File file;
+    File meta;
     size_t unflushed_bytes = 0;
 };

MIDAS/src/hardware/main.cpp

@@ -14,12 +14,12 @@
  */
 
 // #ifdef IS_SUSTAINER
-// MultipleLogSink<EMMCSink> sinks;
-SDSink sink;
+//MultipleLogSink<EMMCSink> sinks;
+MultipleLogSink<SDSink> sinks;
 // #else
 // MultipleLogSink<> sinks;
 // #endif
-RocketSystems systems{.log_sink = sink};
+RocketSystems systems{.log_sink = sinks};
 /**
  * @brief Sets up pinmodes for all sensors and starts threads
  */
@@ -107,8 +107,11 @@ void setup()
 
     // init and start threads
     begin_systems(&systems);
+
+    loop();
 }
 
 void loop()
 {
+    printf("\nHI!");
 }

MIDAS/src/rocket_state.h

@@ -153,6 +153,65 @@ class Latency {
     }
 };
 
+#define META_LOGGING_MAX_SIZE 64
+
+enum MetaDataCode {
+    // Launch events
+    EVENT_TLAUNCH,
+    EVENT_TBURNOUT,
+    EVENT_TIGNITION,
+    EVENT_TAPOGEE,
+    EVENT_TMAIN,
+    EVENT_TMAX_ACCEL,
+    EVENT_TMAX_VEL,
+    EVENT_TMAX_DESCENT_RATE,
+
+    // Non-events
+    DATA_LAUNCHSITE_BARO,
+    DATA_LAUNCHSITE_GPS,
+    DATA_LAUNCH_INITIAL_TILT,
+    DATA_TILT_AT_BURNOUT,
+    DATA_TILT_AT_IGNITION,
+    DATA_MAX_ACCEL,
+    DATA_MAX_VEL,
+    DATA_ALT_AT_BURNOUT,
+    DATA_MAX_DESCENT_RATE
+};
+
+struct MetaLogging {
+    public:
+        struct MetaLogEntry {
+            MetaDataCode log_type;
+            size_t size;
+            char data[META_LOGGING_MAX_SIZE];
+        };
+
+        Queue<MetaLogEntry> _q;
+
+        bool get_queued(MetaLogEntry* out) { return _q.receive(out); }
+
+        void log_event(MetaDataCode event_type, uint32_t timestamp) {
+            MetaLogEntry entry{event_type, 0, 0};
+            entry.size = sizeof(uint32_t);
+            memcpy(entry.data, &timestamp, entry.size);
+            _q.send(entry);
+        }
+
+        template <typename T>
+        void log_data(MetaDataCode data_type, const T& data) {
+
+            // double check...
+            static_assert(sizeof(T) <= META_LOGGING_MAX_SIZE, "Datatype for log_data too large");
+
+            MetaLogEntry entry{data_type, 0, 0};
+            entry.size = sizeof(T);
+            memcpy(entry.data, &data, entry.size);
+            _q.send(entry);
+
+            fprintf(stderr, "Data has been logged: %c", entry.data);
+        }
+};
+
 /**
  * @struct CommandFlags
  * 
@@ -196,7 +255,7 @@ struct RocketData {
     SensorData<Magnetometer> magnetometer;
     SensorData<Voltage> voltage;
     SensorData<CameraData> cam_data;
-    
+
     CommandFlags command_flags;
     Latency log_latency;
 };