fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor logger: add struct timer_callback_data_s used in the timer callback

Browse Source
This commit is contained in:
Beat Küng 2018-05-03 10:58:00 +02:00 committed by Lorenz Meier
parent 9b72080ec1
commit 401eefd39b
1 changed files with 21 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
src/modules/logger/logger.cpp
View File

@ -88,10 +88,19 @@
using namespace px4::logger;
struct timer_callback_data_s {
px4_sem_t semaphore;
};
/* This is used to schedule work for the logger (periodic scan for updated topics) */
static void timer_callback(void *arg)
{
px4_sem_t *semaphore = (px4_sem_t *)arg;
/* Note: we are in IRQ context here (on NuttX) */
timer_callback_data_s *data = (timer_callback_data_s *)arg;
/* check the value of the semaphore: if the logger cannot keep up with running it's main loop as fast
* as the timer_callback here increases the semaphore count, the counter would increase unbounded,
@ -101,11 +110,12 @@ static void timer_callback(void *arg)
* multiple iterations at once, the next time it's scheduled). */
int semaphore_value;
if (px4_sem_getvalue(semaphore, &semaphore_value) == 0 && semaphore_value > 1) {
if (px4_sem_getvalue(&data->semaphore, &semaphore_value) == 0 && semaphore_value > 1) {
return;
}
px4_sem_post(semaphore);
px4_sem_post(&data->semaphore);
}
@ -924,12 +934,11 @@ void Logger::run()
}
/* init the update timer */
struct hrt_call timer_call;
memset(&timer_call, 0, sizeof(hrt_call));
px4_sem_t timer_semaphore;
px4_sem_init(&timer_semaphore, 0, 0);
struct hrt_call timer_call{};
timer_callback_data_s timer_callback_data;
px4_sem_init(&timer_callback_data.semaphore, 0, 0);
/* timer_semaphore use case is a signal */
px4_sem_setprotocol(&timer_semaphore, SEM_PRIO_NONE);
px4_sem_setprotocol(&timer_callback_data.semaphore, SEM_PRIO_NONE);
int polling_topic_sub = -1;
@ -941,7 +950,8 @@ void Logger::run()
}
} else {
hrt_call_every(&timer_call, _log_interval, _log_interval, timer_callback, &timer_semaphore);
hrt_call_every(&timer_call, _log_interval, _log_interval, timer_callback, &timer_callback_data);
}
// check for new subscription data
@ -1202,14 +1212,14 @@ void Logger::run()
* And on linux this is quite accurate as well, but under NuttX it is not accurate,
* because usleep() has only a granularity of CONFIG_MSEC_PER_TICK (=1ms).
*/
while (px4_sem_wait(&timer_semaphore) != 0);
while (px4_sem_wait(&timer_callback_data.semaphore) != 0);
}
}
stop_log_file();
hrt_cancel(&timer_call);
px4_sem_destroy(&timer_semaphore);
px4_sem_destroy(&timer_callback_data.semaphore);
// stop the writer thread
_writer.thread_stop();