fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 05:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

logger: allocate _vehicle_status_sub & _parameter_update_sub on the logger thread

Browse Source 
This makes sure the file descriptors are closed in the right thread.
Before on NuttX, when stopping the logger, orb unsubscribe failed due to
this.
This commit is contained in:
Beat Küng
2016-05-06 13:12:50 +02:00
committed by Lorenz Meier
parent 7d42a648f0
commit dde96dd4d7
2 changed files with 27 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logger.cpp
+25 -9
View File
@@ -385,18 +385,31 @@ void Logger::run()
struct mallinfo alloc_info = {};
#endif /* DBGPRINT */
PX4_WARN("logger started");
PX4_INFO("logger started");
int mkdir_ret = mkdir(LOG_ROOT, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret == 0) {
PX4_WARN("log root dir created: %s", LOG_ROOT);
PX4_INFO("log root dir created: %s", LOG_ROOT);
} else if (errno != EEXIST) {
PX4_WARN("failed creating log root dir: %s", LOG_ROOT);
PX4_ERR("failed creating log root dir: %s", LOG_ROOT);
return;
}
if (!(_vehicle_status_sub = new uORB::Subscription<vehicle_status_s>(ORB_ID(vehicle_status)))) {
PX4_ERR("Failed to allocate subscription");
return;
}
if (!(_parameter_update_sub = new uORB::Subscription<parameter_update_s>(ORB_ID(parameter_update)))) {
delete _vehicle_status_sub;
_vehicle_status_sub = nullptr;
PX4_ERR("Failed to allocate subscription");
return;
}
add_topic("sensor_gyro", 0);
add_topic("sensor_accel", 0);
add_topic("vehicle_rates_setpoint", 10);
@@ -448,10 +461,10 @@ void Logger::run()
while (!_task_should_exit) {
// Start/stop logging when system arm/disarm
if (_vehicle_status_sub.check_updated()) {
_vehicle_status_sub.update();
bool armed = (_vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(_vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
if (_vehicle_status_sub->check_updated()) {
_vehicle_status_sub->update();
bool armed = (_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
if (_enabled != armed && !_log_on_start) {
if (armed) {
@@ -474,9 +487,9 @@ void Logger::run()
/* Check if parameters have changed */
// this needs to change to a timestamped record to record a history of parameter changes
if (_parameter_update_sub.check_updated()) {
if (_parameter_update_sub->check_updated()) {
warnx("parameter update");
_parameter_update_sub.update();
_parameter_update_sub->update();
write_changed_parameters();
}
@@ -577,6 +590,9 @@ void Logger::run()
usleep(_log_interval);
}
delete _vehicle_status_sub;
delete _parameter_update_sub;
// stop the writer thread
_writer.thread_stop();