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refactor param: move autosave to px4::wq_configurations::lp_default work queue

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Changes initialization order as param_init now depends on wq manager
This commit is contained in:
Beat Küng
2023-03-14 09:38:59 +01:00
parent e65a0a01d6
commit 1bfca24fa9
6 changed files with 202 additions and 86 deletions
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src/lib/parameters/parameters.cpp
+15 -80
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@@ -66,7 +66,6 @@ using namespace time_literals;
#include "uORB/uORB.h"
#include "uORB/topics/parameter_update.h"
#include <uORB/topics/actuator_armed.h>
#include <uORB/Subscription.hpp>
#include "ExhaustiveLayer.h"
@@ -95,12 +94,8 @@ inline static int flash_param_import() { return -1; }
static char *param_default_file = nullptr;
static char *param_backup_file = nullptr;
#include <px4_platform_common/workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
static struct work_s autosave_work {};
static px4::atomic_bool autosave_scheduled{false};
static bool autosave_disabled = false;
#include "autosave.h"
static ParamAutosave *autosave_instance {nullptr};
static px4::AtomicBitset<param_info_count> params_active; // params found
static px4::AtomicBitset<param_info_count> params_unsaved;
@@ -132,6 +127,8 @@ param_init()
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
px4_register_boardct_ioctl(_PARAMIOCBASE, param_ioctl);
#endif
autosave_instance = new ParamAutosave();
}
@@ -355,85 +352,19 @@ bool param_value_is_default(param_t param)
return true;
}
/**
* worker callback method to save the parameters
* @param arg unused
*/
static void
autosave_worker(void *arg)
{
bool disabled = false;
if (!param_get_default_file()) {
// In case we save to FLASH, defer param writes until disarmed,
// as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7)
uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
if (armed_sub.get().armed) {
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(1_s));
return;
}
}
{
const AtomicTransaction transaction;
last_autosave_timestamp = hrt_absolute_time();
autosave_scheduled.store(false);
disabled = autosave_disabled;
}
if (disabled) {
return;
}
PX4_DEBUG("Autosaving params");
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param auto save failed (%i)", ret);
}
}
/**
* Automatically save the parameters after a timeout and limited rate.
*
* 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).
*/
static void
param_autosave()
{
if (autosave_scheduled.load() || autosave_disabled) {
return;
if (autosave_instance) {
autosave_instance->request();
}
// wait at least 300ms before saving, because:
// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
// - the logger stores changed params. He gets notified on a param change via uORB and then
// looks at all unsaved params.
hrt_abstime delay = 300_ms;
static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
delay = rate_limit - last_save_elapsed;
}
autosave_scheduled.store(true);
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(delay));
}
void
param_control_autosave(bool enable)
{
AtomicTransaction transaction;
autosave_disabled = !enable;
if (!enable && autosave_scheduled.load()) {
autosave_scheduled.store(false);
transaction.unlock();
work_cancel(LPWORK, &autosave_work);
if (autosave_instance) {
autosave_instance->enable(enable);
}
}
@@ -1325,10 +1256,14 @@ void param_print_status()
PX4_INFO("storage array (custom defaults): %d/%d elements (%zu bytes total)",
runtime_defaults.size(), firmware_defaults.size(), (size_t)runtime_defaults.byteSize());
PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
if (autosave_instance) {
PX4_INFO("auto save: %s", autosave_instance->enabled() ? "on" : "off");
if (!autosave_disabled && (last_autosave_timestamp > 0)) {
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
hrt_abstime last_autosave = autosave_instance->lastAutosave();
if (last_autosave > 0) {
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave) * 1e-6);
}
}
perf_print_counter(param_export_perf);