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param_export use bson encoder buffer

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This commit is contained in:
Daniel Agar
2017-12-11 16:47:26 -05:00
committed by Lorenz Meier
parent 08443c0bfc
commit 430cdada60
2 changed files with 37 additions and 27 deletions
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src/modules/systemlib/param/param.c
+37 -21
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@@ -1025,9 +1025,11 @@ param_export(int fd, bool only_unsaved)
perf_begin(param_export_perf);
struct param_wbuf_s *s = NULL;
struct bson_encoder_s encoder;
int result = -1;
struct bson_encoder_s encoder;
encoder.realloc_ok = 0;
int shutdown_lock_ret = px4_shutdown_lock();
if (shutdown_lock_ret) {
@@ -1039,7 +1041,8 @@ param_export(int fd, bool only_unsaved)
param_lock_reader();
bson_encoder_init_file(&encoder, fd);
uint8_t bson_buffer[512];
bson_encoder_init_buf(&encoder, &bson_buffer, sizeof(bson_buffer));
/* no modified parameters -> we are done */
if (param_values == NULL) {
@@ -1048,10 +1051,6 @@ param_export(int fd, bool only_unsaved)
}
while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
int32_t i;
float f;
/*
* If we are only saving values changed since last save, and this
* one hasn't, then skip it
@@ -1062,16 +1061,33 @@ param_export(int fd, bool only_unsaved)
s->unsaved = false;
const char *name = param_name(s->param);
const size_t size = param_size(s->param);
// check remaining buffer size and commit to disk
// total size = name + param size + bson header + bson end
// size is doubled (floats saved as doubles)
const size_t total_size = strlen(name) + 2 * size + 2;
if (encoder.bufpos > encoder.bufsize - total_size) {
// write buffer to disk and continue
int ret = write(fd, encoder.buf, encoder.bufpos);
if (ret == encoder.bufpos) {
// reset buffer to beginning and continue
encoder.bufpos = 0;
} else {
PX4_ERR("param write error %d %d", ret, encoder.bufpos);
goto out;
}
}
/* append the appropriate BSON type object */
switch (param_type(s->param)) {
case PARAM_TYPE_INT32: {
i = s->val.i;
const char *name = param_name(s->param);
/* lock as short as possible */
const int32_t i = s->val.i;
if (bson_encoder_append_int(&encoder, name, i)) {
PX4_ERR("BSON append failed for '%s'", name);
@@ -1081,9 +1097,7 @@ param_export(int fd, bool only_unsaved)
break;
case PARAM_TYPE_FLOAT: {
f = s->val.f;
const char *name = param_name(s->param);
const float f = s->val.f;
if (bson_encoder_append_double(&encoder, name, f)) {
PX4_ERR("BSON append failed for '%s'", name);
@@ -1093,9 +1107,6 @@ param_export(int fd, bool only_unsaved)
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: {
const char *name = param_name(s->param);
const size_t size = param_size(s->param);
const void *value_ptr = param_get_value_ptr(s->param);
/* lock as short as possible */
@@ -1115,9 +1126,6 @@ param_export(int fd, bool only_unsaved)
PX4_ERR("unrecognized parameter type");
goto out;
}
/* allow this process to be interrupted by another process / thread */
usleep(5);
}
result = 0;
@@ -1126,6 +1134,14 @@ out:
if (result == 0) {
result = bson_encoder_fini(&encoder); // this will call fsync
// write and finish
if ((result != 0) || write(fd, encoder.buf, encoder.bufpos) != encoder.bufpos) {
PX4_ERR("param write error");
} else {
px4_fsync(fd);
}
}
param_unlock_reader();