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refactor logger: reduce required size of WrittenFormats

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by keeping only recursive topics in there. The rest is checked by looking
at previous _subscriptions.

Reduces stack size requirements when increasing MAX_TOPICS_NUM.
This commit is contained in:
Beat Küng
2019-12-17 21:22:30 -08:00
committed by Daniel Agar
parent 5bb82a9f93
commit 2757647897
2 changed files with 18 additions and 8 deletions
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src/modules/logger/logger.cpp
+15 -5
View File
@@ -1692,7 +1692,7 @@ void Logger::write_console_output()
}
void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats &written_formats,
ulog_message_format_s &msg, int level)
ulog_message_format_s &msg, int subscription_index, int level)
{
if (level > 3) {
// precaution: limit recursion level. If we land here it's either a bug or nested topic definitions. In the
@@ -1701,13 +1701,23 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
return;
}
// check if we already wrote the format
// check if we already wrote the format: either if at a previous _subscriptions index or in written_formats
for (const auto &written_format : written_formats) {
if (written_format == &meta) {
PX4_DEBUG("already added: %s", meta.o_name);
return;
}
}
for (int i = 0; i < subscription_index; ++i) {
if (_subscriptions[i].get_topic() == &meta) {
PX4_DEBUG("already in _subscriptions: %s", meta.o_name);
return;
}
}
PX4_DEBUG("writing format for %s", meta.o_name);
// Write the current format (we don't need to check if we already added it to written_formats)
int format_len = snprintf(msg.format, sizeof(msg.format), "%s:%s", meta.o_name, meta.o_fields);
size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_len;
@@ -1715,7 +1725,7 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
write_message(type, &msg, msg_size);
if (!written_formats.push_back(&meta)) {
if (level > 1 && !written_formats.push_back(&meta)) {
PX4_ERR("Array too small");
}
@@ -1780,7 +1790,7 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
if (found_topic) {
write_format(type, *found_topic, written_formats, msg, level + 1);
write_format(type, *found_topic, written_formats, msg, subscription_index, level + 1);
} else {
PX4_ERR("No definition for topic %s found", fmt);
@@ -1810,7 +1820,7 @@ void Logger::write_formats(LogType type)
for (size_t i = 0; i < sub_count; ++i) {
const LoggerSubscription &sub = _subscriptions[i];
write_format(type, *sub.get_topic(), written_formats, msg);
write_format(type, *sub.get_topic(), written_formats, msg, i);
}
_writer.unlock();
src/modules/logger/logger.h
+3 -3
View File
@@ -249,11 +249,11 @@ private:
*/
void write_header(LogType type);
/// Array to store written formats (add some more for nested definitions)
using WrittenFormats = Array < const orb_metadata *, MAX_TOPICS_NUM + 10 >;
/// Array to store written formats for nested definitions (only)
using WrittenFormats = Array < const orb_metadata *, 20 >;
void write_format(LogType type, const orb_metadata &meta, WrittenFormats &written_formats, ulog_message_format_s &msg,
int level = 1);
int subscription_index, int level = 1);
void write_formats(LogType type);
/**