fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 17:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

uxrce_dds_client: optimizations and instrumentation

Browse Source 
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
This commit is contained in:
Daniel Agar
2024-03-12 16:22:26 -04:00
parent b115d3cd44
commit a1cce7e961
2 changed files with 105 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uxrce_dds_client/uxrce_dds_client.h
+9 -2
View File
@@ -44,6 +44,8 @@
#include <lib/timesync/Timesync.hpp>
#include <lib/perf/perf_counter.h>
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
# define UXRCE_DDS_CLIENT_UDP 1
#endif
@@ -157,8 +159,8 @@ private:
SendTopicsSubs *_subs{nullptr};
RcvTopicsPubs *_pubs{nullptr};
SrvBase *repliers_[MAX_NUM_REPLIERS];
uint8_t num_of_repliers{0};
SrvBase *_repliers[MAX_NUM_REPLIERS];
uint8_t _num_of_repliers{0};
uxrCommunication *_comm{nullptr};
int _fd{-1};
@@ -167,8 +169,13 @@ private:
int _last_payload_rx_rate{}; ///< in B/s
bool _connected{false};
bool _timesync_converged{false};
Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
DEFINE_PARAMETERS(
(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_uxrce_dds_dom_id,
(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_uxrce_key,