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parameters: delay parameter update notification

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This commit is contained in:
Daniel Agar
2022-05-16 14:32:59 -04:00
parent 60450e63c0
commit be07f704de
1 changed files with 33 additions and 3 deletions
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src/lib/parameters/parameters.cpp
+33 -3
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@@ -95,6 +95,10 @@ static struct work_s autosave_work {};
static px4::atomic_bool autosave_scheduled{false};
static bool autosave_disabled = false;
// notify worker
static struct work_s notify_work {};
static px4::atomic<uint8_t> notify_delay_count{0};
static px4::AtomicBitset<param_info_count> params_active; // params found
static px4::AtomicBitset<param_info_count> params_changed; // params non-default
static px4::Bitset<param_info_count> params_custom_default; // params with runtime default value
@@ -664,6 +668,32 @@ param_control_autosave(bool enable)
param_unlock_writer();
}
static void notify_worker(void *arg)
{
param_notify_changes();
notify_delay_count.store(0);
}
static void schedule_notify_changes()
{
#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(CONFIG_ARCH_BOARD_PX4_SITL)
// on SITL call notify_worker directly to avoid issues with lockstep and SITL tests
(void)notify_work;
notify_worker(nullptr);
return;
#else
if (notify_delay_count.fetch_add(1) < 100) {
// delay notification by 20 ms, but no more than 100 times
work_queue(LPWORK, &notify_work, &notify_worker, nullptr, USEC2TICK(20'000));
} else {
// do nothing until notify_delay_count is cleared by the notify worker
}
#endif
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
@@ -763,7 +793,7 @@ out:
* a thing has been set.
*/
if ((result == PX4_OK) && param_changed && notify_changes) {
param_notify_changes();
schedule_notify_changes();
}
return result;
@@ -908,7 +938,7 @@ int param_set_default_value(param_t param, const void *val)
if ((result == PX4_OK) && param_used(param)) {
// send notification if param is already in use
param_notify_changes();
schedule_notify_changes();
}
return result;
@@ -942,7 +972,7 @@ static int param_reset_internal(param_t param, bool notify = true)
param_unlock_writer();
if (s != nullptr && notify) {
param_notify_changes();
schedule_notify_changes();
}
return (!param_found);