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logger: avoid uORB::Subscription, directly use orb_subscribe() instead

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This frees up ~160B stack size
This commit is contained in:
Beat Küng
2016-10-18 09:25:44 +02:00
committed by Lorenz Meier
parent 4120cd93df
commit f244a78368
1 changed files with 22 additions and 13 deletions
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src/modules/logger/logger.cpp
+22 -13
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@@ -645,9 +645,10 @@ void Logger::run()
}
}
uORB::Subscription<vehicle_status_s> vehicle_status_sub(ORB_ID(vehicle_status));
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
uORB::Subscription<log_message_s> log_message_sub(ORB_ID(log_message), 20);
int log_message_sub = orb_subscribe(ORB_ID(log_message));
orb_set_interval(log_message_sub, 20);
int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/fs/microsd/etc/logging/logger_topics.txt");
@@ -666,7 +667,7 @@ void Logger::run()
}
//all topics added. Get required message buffer size
int max_msg_size = 0;
int max_msg_size = 0, ret;
for (const auto &subscription : _subscriptions) {
//use o_size, because that's what orb_copy will use
@@ -725,10 +726,14 @@ 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) ||
bool vehicle_status_updated;
ret = orb_check(vehicle_status_sub, &vehicle_status_updated);
if (ret == 0 && vehicle_status_updated) {
vehicle_status_s vehicle_status;
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ||
_arm_override;
if (_was_armed != armed && !_log_until_shutdown) {
@@ -751,7 +756,7 @@ void Logger::run()
/* check for logging command from MAVLink */
if (vehicle_command_sub != -1) {
bool command_updated = false;
int ret = orb_check(vehicle_command_sub, &command_updated);
ret = orb_check(vehicle_command_sub, &command_updated);
if (ret == 0 && command_updated) {
vehicle_command_s command;
@@ -833,9 +838,13 @@ void Logger::run()
}
//check for new logging message(s)
if (log_message_sub.check_updated()) {
log_message_sub.update();
const char *message = (const char *)log_message_sub.get().text;
bool log_message_updated = false;
ret = orb_check(log_message_sub, &log_message_updated);
if (ret == 0 && log_message_updated) {
log_message_s log_message;
orb_copy(ORB_ID(log_message), log_message_sub, &log_message);
const char *message = (const char *)log_message.text;
int message_len = strlen(message);
if (message_len > 0) {
@@ -844,8 +853,8 @@ void Logger::run()
_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] = log_message_sub.get().severity + '0';
memcpy(_msg_buffer + 4, &log_message_sub.get().timestamp, sizeof(ulog_message_logging_s::timestamp));
_msg_buffer[3] = log_message.severity + '0';
memcpy(_msg_buffer + 4, &log_message.timestamp, sizeof(ulog_message_logging_s::timestamp));
strncpy((char *)(_msg_buffer + 12), message, sizeof(ulog_message_logging_s::message));
write_message(_msg_buffer, write_msg_size + ULOG_MSG_HEADER_LEN);