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logger: free up ~200B stack size

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we now use the already existing buffer for logging messages, which is
allocated on the heap.
In fact, stack usage was too high before this, now it's ok again.
This commit is contained in:
Beat Küng
2016-06-04 17:23:20 +02:00
committed by Lorenz Meier
parent febe75bb12
commit 78d357cb0c
2 changed files with 15 additions and 7 deletions
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src/modules/logger/logger.cpp
+14 -6
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@@ -476,6 +476,10 @@ void Logger::run()
max_msg_size += sizeof(ulog_message_data_header_s);
if (sizeof(ulog_message_logging_s) > max_msg_size) {
max_msg_size = sizeof(ulog_message_logging_s);
}
if (max_msg_size > _msg_buffer_len) {
if (_msg_buffer) {
delete[](_msg_buffer);
@@ -596,16 +600,20 @@ void Logger::run()
//check for new mavlink log message
if (mavlink_log_sub.check_updated()) {
mavlink_log_sub.update();
ulog_message_logging_s log_msg;
log_msg.log_level = mavlink_log_sub.get().severity + '0';
log_msg.timestamp = mavlink_log_sub.get().timestamp;
const char *message = (const char *)mavlink_log_sub.get().text;
int message_len = strlen(message);
if (message_len > 0) {
strncpy(log_msg.message, message, sizeof(log_msg.message));
log_msg.msg_size = sizeof(log_msg) - sizeof(log_msg.message) - ULOG_MSG_HEADER_LEN + message_len;
write(&log_msg, log_msg.msg_size + ULOG_MSG_HEADER_LEN);
uint16_t write_msg_size = sizeof(ulog_message_logging_s) - sizeof(ulog_message_logging_s::message)
- ULOG_MSG_HEADER_LEN + message_len;
_msg_buffer[0] = (uint8_t)write_msg_size;
_msg_buffer[1] = (uint8_t)(write_msg_size >> 8);
_msg_buffer[2] = static_cast<uint8_t>(ULogMessageType::LOGGING);
_msg_buffer[3] = mavlink_log_sub.get().severity + '0';
memcpy(_msg_buffer+4, &mavlink_log_sub.get().timestamp, sizeof(ulog_message_logging_s::timestamp));
strncpy((char*)(_msg_buffer+12), message, sizeof(ulog_message_logging_s::message));
write(_msg_buffer, write_msg_size + ULOG_MSG_HEADER_LEN);
}
}