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logger: remove LoggerSubscription::time_tried_subscribe

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Instead use a single timestamp for subscription checks. This frees up
~800B of RAM.

Also make sure the subscription checks are distributed over time. On each
update, at most 1 topic subscription is checked. Reduces the load of the
logger from 7.3% to 5.8% (Pixracer)
This commit is contained in:
Beat Küng
2016-10-23 15:25:20 +02:00
committed by Lorenz Meier
parent f244a78368
commit 7140914d38
2 changed files with 24 additions and 11 deletions
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src/modules/logger/logger.h
+2 -4
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@@ -61,7 +61,6 @@ namespace logger
struct LoggerSubscription {
int fd[ORB_MULTI_MAX_INSTANCES];
uint16_t msg_ids[ORB_MULTI_MAX_INSTANCES];
uint64_t time_tried_subscribe; // captures the time at which we checked last time if this instance existed
const orb_metadata *metadata = nullptr;
LoggerSubscription() {}
@@ -70,7 +69,6 @@ struct LoggerSubscription {
metadata(metadata_)
{
fd[0] = fd_;
time_tried_subscribe = 0;
for (int i = 1; i < ORB_MULTI_MAX_INSTANCES; i++) {
fd[i] = -1;
@@ -189,7 +187,7 @@ private:
void write_changed_parameters();
bool copy_if_updated_multi(LoggerSubscription &sub, int multi_instance, void *buffer);
bool copy_if_updated_multi(LoggerSubscription &sub, int multi_instance, void *buffer, bool try_to_subscribe);
/**
* Write exactly one ulog message to the logger and handle dropouts.
@@ -228,9 +226,9 @@ private:
uint8_t *_msg_buffer = nullptr;
int _msg_buffer_len = 0;
bool _task_should_exit = true;
char _log_dir[LOG_DIR_LEN];
char _log_file_name[32];
bool _task_should_exit = true;
bool _has_log_dir = false;
bool _was_armed = false;
bool _arm_override;