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param: add PARAM_NO_AUTOSAVE: if defined, do not depend on LP work queue

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Some NuttX configs do not have the work queues enabled.
This commit is contained in:
Beat Küng
2017-04-06 11:49:03 +02:00
committed by Lorenz Meier
parent b5bb5cffc8
commit 044a767235
1 changed files with 18 additions and 2 deletions
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src/modules/systemlib/param/param.c
+18 -2
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@@ -64,6 +64,9 @@
#include "systemlib/uthash/utarray.h" #include "systemlib/uthash/utarray.h"
#include "systemlib/bson/tinybson.h" #include "systemlib/bson/tinybson.h"
//#define PARAM_NO_ORB ///< if defined, avoid uorb depenency. This disables publication of parameter_update on param change
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
#if !defined(PARAM_NO_ORB) #if !defined(PARAM_NO_ORB)
# include "uORB/uORB.h" # include "uORB/uORB.h"
# include "uORB/topics/parameter_update.h" # include "uORB/topics/parameter_update.h"
@@ -96,12 +99,14 @@ static char *param_user_file = NULL;
#define PARAM_CLOSE close #define PARAM_CLOSE close
#endif #endif
#ifndef PARAM_NO_AUTOSAVE
#include <px4_workqueue.h> #include <px4_workqueue.h>
/* autosaving variables */ /* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0; static hrt_abstime last_autosave_timestamp = 0;
struct work_s autosave_work; struct work_s autosave_work;
static bool autosave_scheduled = false; static bool autosave_scheduled = false;
static bool autosave_disabled = false; static bool autosave_disabled = false;
#endif /* PARAM_NO_AUTOSAVE */
/** /**
* Array of static parameter info. * Array of static parameter info.
@@ -588,11 +593,14 @@ param_get(param_t param, void *val)
return result; return result;
} }
#ifndef PARAM_NO_AUTOSAVE
/** /**
* worker callback method to save the parameters * worker callback method to save the parameters
* @param arg unused * @param arg unused
*/ */
static void autosave_worker(void *arg) static void
autosave_worker(void *arg)
{ {
bool disabled = false; bool disabled = false;
@@ -613,6 +621,7 @@ static void autosave_worker(void *arg)
PX4_ERR("param save failed (%i)", ret); PX4_ERR("param save failed (%i)", ret);
} }
} }
#endif /* PARAM_NO_AUTOSAVE */
/** /**
* Automatically save the parameters after a timeout and limited rate. * Automatically save the parameters after a timeout and limited rate.
@@ -620,8 +629,11 @@ static void autosave_worker(void *arg)
* This needs to be called with the writer lock held (it's not necessary that it's the writer lock, but it * This needs to be called with the writer lock held (it's not necessary that it's the writer lock, but it
* needs to be the same lock as autosave_worker() and param_control_autosave() use). * needs to be the same lock as autosave_worker() and param_control_autosave() use).
*/ */
static void param_autosave(void) static void
param_autosave(void)
{ {
#ifndef PARAM_NO_AUTOSAVE
if (autosave_scheduled || autosave_disabled) { if (autosave_scheduled || autosave_disabled) {
return; return;
} }
@@ -641,11 +653,13 @@ static void param_autosave(void)
autosave_scheduled = true; autosave_scheduled = true;
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, NULL, USEC2TICK(delay)); work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, NULL, USEC2TICK(delay));
#endif /* PARAM_NO_AUTOSAVE */
} }
void void
param_control_autosave(bool enable) param_control_autosave(bool enable)
{ {
#ifndef PARAM_NO_AUTOSAVE
param_lock_writer(); param_lock_writer();
if (!enable && autosave_scheduled) { if (!enable && autosave_scheduled) {
@@ -655,8 +669,10 @@ param_control_autosave(bool enable)
autosave_disabled = !enable; autosave_disabled = !enable;
param_unlock_writer(); param_unlock_writer();
#endif /* PARAM_NO_AUTOSAVE */
} }
static int static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes) param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{ {