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132 lines
4.0 KiB
C++
132 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "autosave.h"
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#include <px4_platform_common/log.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/Subscription.hpp>
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#include "param.h"
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#include "atomic_transaction.h"
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using namespace time_literals;
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ParamAutosave::ParamAutosave()
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: ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
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{
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}
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void ParamAutosave::request()
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{
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if (_scheduled.load() || _disabled) {
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return;
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}
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// wait at least 300ms before saving, because:
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// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
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// - the logger stores changed params. He gets notified on a param change via uORB and then
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// looks at all unsaved params.
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hrt_abstime delay = 300_ms;
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static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
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const hrt_abstime last_save_elapsed = hrt_elapsed_time(&_last_timestamp);
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if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
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delay = rate_limit - last_save_elapsed;
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}
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_scheduled.store(true);
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ScheduleDelayed(delay);
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}
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void ParamAutosave::enable(bool enable)
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{
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AtomicTransaction transaction;
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_disabled = !enable;
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if (!enable && _scheduled.load()) {
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_scheduled.store(false);
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px4::ScheduledWorkItem::ScheduleClear();
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}
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}
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void ParamAutosave::Run()
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{
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bool disabled = false;
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if (!param_get_default_file()) {
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// In case we save to FLASH, defer param writes until disarmed,
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// as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7)
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uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
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if (armed_sub.get().armed) {
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ScheduleDelayed(1_s);
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return;
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}
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}
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{
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const AtomicTransaction transaction;
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_last_timestamp = hrt_absolute_time();
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// Note that the order is important here: we first clear _scheduled, then save the parameters, as during export,
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// more parameter changes could happen.
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_scheduled.store(false);
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disabled = _disabled;
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}
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if (disabled) {
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return;
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}
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PX4_DEBUG("Autosaving params");
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int ret = param_save_default(false);
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if (ret != PX4_OK) {
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// re-request to be saved in the future, try 3 times at most
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if (_retry_count < 3) {
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_retry_count++;
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PX4_INFO("param auto save unavailable (%i), retrying..", ret);
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request();
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} else {
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PX4_ERR("param auto save failed (%i)", ret);
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_retry_count = 0;
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}
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} else {
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_retry_count = 0;
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}
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}
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