log_manager.h

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/**
 * @file log_manager.h
 *
 * @brief      Functions to start, stop, and interact with the log manager
 *             thread.
 */

#ifndef LOG_MANAGER_H
#define LOG_MANAGER_H


// to allow printf macros for multi-architecture portability
#define __STDC_FORMAT_MACROS
#include <inttypes.h>

/**
 * table of values to go into each log entry. It is structured this way so that
 * it can be transformed into a struct or fprintf statement with macros.
 */
#define LOG_TABLE \
        X(uint64_t,     "%" PRIu64,     loop_index      ) \
        X(uint64_t,     "%" PRIu64,     last_step_ns    ) \
                                                          \
        X(double,       "%f",           altitude_kf     ) \
        X(double,       "%f",           altitude_bmp)     \
        X(double,       "%f",           roll            ) \
        X(double,       "%f",           pitch           ) \
        X(double,       "%f",           yaw             ) \
                                                          \
        X(double,       "%f",           Z_throttle_sp   ) \
        X(double,       "%f",           altitude_sp     ) \
        X(double,       "%f",           roll_sp         ) \
        X(double,       "%f",           pitch_sp        ) \
        X(double,       "%f",           yaw_sp          ) \
                                                        \
        X(double,       "%f",           u_X             ) \
        X(double,       "%f",           u_Y             ) \
        X(double,       "%f",           u_Z             ) \
        X(double,       "%f",           u_roll          ) \
        X(double,       "%f",           u_pitch         ) \
        X(double,       "%f",           u_yaw           ) \
                                                          \
        X(double,       "%f",           mot_1           ) \
        X(double,       "%f",           mot_2           ) \
        X(double,       "%f",           mot_3           ) \
        X(double,       "%f",           mot_4           ) \
        X(double,       "%f",           mot_5           ) \
        X(double,       "%f",           mot_6           ) \
        X(double,       "%f",           v_batt          )


#define X(type, fmt, name) type name ;
/**
 * Struct definition to contain a single line of the log. For each log entry you
 * wish to create. Fill in an instance of this and pass to add_log_entry()
 */
typedef struct log_entry_t { LOG_TABLE } log_entry_t;
#undef X


/**
 * @brief      creates a new csv log file and starts the background thread.
 *
 *             Used in log_manager.c
 *
 * @return     0 on success, -1 on failure
 */
int log_manager_init();

/**
 * @brief      Write the contents of one entry to the console.
 *
 *             Used in log_manager.c
 *
 * @param[in]  entry  The log_entry_t holding the LOG_TABLE to be printed.
 *
 * @return     0 on success, -1 on failure
 */
int print_entry(log_entry_t entry);

/**
 * @brief      quickly add new data to local buffer
 *
 *             Used in log_manager.c
 *
 * @param[in]  new_entry  the log_entry_t to be written to the buffer
 *
 * @return     0 on success, -1 on failure
 */
int add_log_entry(log_entry_t new_entry);

/**
 * @brief      Finish writing remaining data to log and close thread.
 *
 *             Used in log_manager.c
 *
 * @return     0 on sucess and clean exit, -1 on exit timeout/force close.
 */
int log_manager_cleanup();

#endif // LOG_MANAGER_H