console: add simple dmesg functionality (enable only on v5)

boards/av/x-v1/default.cmake

@@ -86,6 +86,7 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		config
+		dmesg
 		dumpfile
 		esc_calib
 		hardfault_log

boards/av/x-v1/src/board_config.h

@@ -329,6 +329,8 @@
 		GPIO_CAN1_TX,                     \
 	}
 
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

boards/px4/fmu-v5/default.cmake

@@ -91,6 +91,7 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		config
+		dmesg
 		dumpfile
 		esc_calib
 		hardfault_log

boards/px4/fmu-v5/src/board_config.h

@@ -671,6 +671,8 @@
 		GPIO_nARMED_INIT                  \
 	}
 
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -35,6 +35,7 @@
 if (NOT ${PX4_BOARD} MATCHES "px4_io")
 
 	add_library(px4_layer
+		console_buffer.cpp
 		px4_nuttx_tasks.c
 		px4_nuttx_impl.cpp
 		px4_init.cpp

platforms/nuttx/src/px4_layer/console_buffer.cpp

@@ -0,0 +1,171 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_console_buffer.h>
+#include <px4_defines.h>
+#include <px4_sem.h>
+#include <pthread.h>
+
+#include <fcntl.h>
+
+#ifdef BOARD_ENABLE_CONSOLE_BUFFER
+#ifndef BOARD_CONSOLE_BUFFER_SIZE
+# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
+#endif
+
+static ssize_t console_buffer_write(struct file *filep, const char *buffer, size_t buflen);
+
+
+class ConsoleBuffer
+{
+public:
+
+	void write(const char *buffer, size_t len);
+
+	void print(bool follow);
+
+private:
+	void		lock() { do {} while (px4_sem_wait(&_lock) != 0); }
+	void		unlock() { px4_sem_post(&_lock); }
+
+	char _buffer[BOARD_CONSOLE_BUFFER_SIZE];
+	int _head{0};
+	int _tail{0};
+	px4_sem_t _lock = SEM_INITIALIZER(1);
+	bool _is_printing{false};
+	pthread_t _printing_task;
+};
+
+void ConsoleBuffer::print(bool follow)
+{
+	lock();
+	_printing_task = pthread_self();
+	int i = _head;
+
+	while (true) {
+		_is_printing = true;
+
+		if (i < _tail) {
+			::write(1, _buffer + i, _tail - i);
+
+		} else if (_tail < i) {
+			::write(1, _buffer + i, BOARD_CONSOLE_BUFFER_SIZE - i);
+			::write(1, _buffer, _tail);
+		}
+
+		i = _tail;
+
+		_is_printing = false;
+
+		if (follow) {
+			unlock();
+			usleep(10000);
+			lock();
+
+		} else {
+			break;
+		}
+	}
+
+	unlock();
+}
+
+void ConsoleBuffer::write(const char *buffer, size_t len)
+{
+	if (_is_printing && pthread_self() == _printing_task) { // avoid adding to the buffer while we are printing it
+		return;
+	}
+
+	lock(); // same rule as for printf: this cannot be used from IRQ handlers
+
+	for (size_t i = 0; i < len; ++i) {
+		_buffer[_tail] = buffer[i];
+		_tail = (_tail + 1) % BOARD_CONSOLE_BUFFER_SIZE;
+
+		if (_tail == _head) {
+			_head = (_head + 1) % BOARD_CONSOLE_BUFFER_SIZE;
+		}
+	}
+
+	unlock();
+}
+
+static ConsoleBuffer g_console_buffer;
+
+
+void px4_console_buffer_print(bool follow)
+{
+	g_console_buffer.print(follow);
+}
+
+ssize_t console_buffer_write(struct file *filep, const char *buffer, size_t len)
+{
+	g_console_buffer.write(buffer, len);
+
+	// stderr still points to our original console and is available from everywhere, so we output to that.
+	// We could use up_putc() as well, but it is considerably less efficient.
+	// The drawback here is that a module writing to stderr bypasses the console buffer.
+	write(2, buffer, len);
+	fsync(2);
+
+	return len;
+}
+
+static const struct file_operations g_console_buffer_fops = {
+	NULL,         /* open */
+	NULL,         /* close */
+	NULL,         /* read */
+	console_buffer_write, /* write */
+	NULL,         /* seek */
+	NULL          /* ioctl */
+#ifndef CONFIG_DISABLE_POLL
+	, NULL        /* poll */
+#endif
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+	, NULL        /* unlink */
+#endif
+};
+
+int px4_console_buffer_init()
+{
+	return register_driver(CONSOLE_BUFFER_DEVICE, &g_console_buffer_fops, 0666, NULL);
+}
+
+#else
+
+int px4_console_buffer_init()
+{
+	return 0;
+}
+#endif /* BOARD_ENABLE_CONSOLE_BUFFER */

platforms/nuttx/src/px4_layer/px4_init.cpp

@@ -34,6 +34,7 @@
 #include "px4_init.h"
 
 #include <px4_config.h>
+#include <px4_console_buffer.h>
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
@@ -96,6 +97,21 @@ int px4_platform_init(void)
 
 #endif
 
+	int ret = px4_console_buffer_init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	// replace stdout with our buffered console
+	int fd_buf = open(CONSOLE_BUFFER_DEVICE, O_WRONLY);
+
+	if (fd_buf >= 0) {
+		dup2(fd_buf, 1);
+		// keep stderr(2) untouched: the buffered console will use it to output to the original console
+		close(fd_buf);
+	}
+
 	hrt_init();
 
 	param_init();

src/platforms/px4_console_buffer.h

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_console_buffer.h
+ * This implements a simple console buffer to store the full bootup output.
+ * It can be printed via the 'dmesg' utility.
+ * The output of stdout is redirected to CONSOLE_BUFFER_DEVICE, which is stored
+ * to a circular buffer and output to stderr, so that everything is still printed
+ * to the original console.
+ */
+
+#define CONSOLE_BUFFER_DEVICE "/dev/console_buf"
+
+__BEGIN_DECLS
+
+/**
+ * Initialize the console buffer: register the CONSOLE_BUFFER_DEVICE
+ * @return 0 on success, <0 error otherwise
+ */
+int px4_console_buffer_init();
+
+/**
+ * Print content of the console buffer to stdout
+ * @param follow if true keep waiting and print new content whenever the buffer
+ *               is updated
+ */
+void px4_console_buffer_print(bool follow);
+
+__END_DECLS

src/systemcmds/dmesg/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__dmesg
+	MAIN dmesg
+	STACK_MAIN 900
+	SRCS
+		dmesg.cpp
+	)

src/systemcmds/dmesg/dmesg.cpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_console_buffer.h>
+#include <px4_module.h>
+#include <px4_getopt.h>
+
+#ifndef BOARD_ENABLE_CONSOLE_BUFFER
+#error "This module can only be used on boards that enable BOARD_ENABLE_CONSOLE_BUFFER"
+#endif
+
+static void	usage();
+
+extern "C" {
+	__EXPORT int dmesg_main(int argc, char *argv[]);
+}
+
+static void
+usage()
+{
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Command-line tool to show bootup console messages.
+Note that output from NuttX's work queues and syslog are not captured.
+
+### Examples
+
+Keep printing all messages in the background:
+$ dmesg -f &
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("dmesg", "system");
+	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Follow: wait for new messages", true);
+
+}
+
+int
+dmesg_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+	bool follow = false;
+
+	while ((ch = px4_getopt(argc, argv, "f", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'f':
+			follow = true;
+			break;
+
+		default:
+			usage();
+			return -1;
+			break;
+		}
+	}
+
+	px4_console_buffer_print(follow);
+
+	return 0;
+}