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

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This commit is contained in:
Beat Küng
2017-07-06 09:02:13 +02:00
committed by Lorenz Meier
parent 15ae3a9eb7
commit 784cec1cae
1 changed files with 20 additions and 7 deletions
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src/modules/logger/logger.cpp
+20 -7
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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++) { for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(name, topics[i]->o_name) == 0) { if (strcmp(name, topics[i]->o_name) == 0) {
fd = add_topic(topics[i]); bool already_added = false;
PX4_DEBUG("logging topic: %s, interval: %i", topics[i]->o_name, interval);
break; // 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 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 (!_polling_topic_meta && fd >= 0) {
if (fd >= 0 && interval != 0) { orb_set_interval(fd, interval);
orb_set_interval(fd, interval);
}
} }
return fd; return fd;