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logger: check if topic already added & if so only update the interval

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Beat Küng 2017-06-30 11:41:30 +02:00 committed by Lorenz Meier
parent 15ae3a9eb7
commit 784cec1cae
1 changed files with 20 additions and 7 deletions
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27
src/modules/logger/logger.cpp
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@ -496,17 +496,30 @@ int Logger::add_topic(const char *name, unsigned interval = 0)
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(name, topics[i]->o_name) == 0) {
fd = add_topic(topics[i]);
PX4_DEBUG("logging topic: %s, interval: %i", topics[i]->o_name, interval);
break;
bool already_added = false;
// check if already added: if so, only update the interval
for (size_t j = 0; j < _subscriptions.size(); ++j) {
if (_subscriptions[j].metadata == topics[i]) {
PX4_DEBUG("logging topic %s, interval: %i, already added, only setting interval",
topics[i]->o_name, interval);
fd = _subscriptions[j].fd[0];
already_added = true;
break;
}
}
if (!already_added) {
fd = add_topic(topics[i]);
PX4_DEBUG("logging topic: %s, interval: %i", topics[i]->o_name, interval);
break;
}
}
}
// if we poll on a topic, we don't set the interval and let the polled topic define the maximum interval
if (!_polling_topic_meta) {
if (fd >= 0 && interval != 0) {
orb_set_interval(fd, interval);
}
if (!_polling_topic_meta && fd >= 0) {
orb_set_interval(fd, interval);
}
return fd;