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DataFlash: added locking for multi-thread logging support

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This commit is contained in:
Andrew Tridgell 2015-12-17 09:23:14 +11:00
parent c77e3c89c5
commit 02d7867d79
2 changed files with 17 additions and 0 deletions
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15
libraries/DataFlash/DataFlash_File.cpp
View File

@ -96,6 +96,12 @@ void DataFlash_File::Init()
int ret;
struct stat st;
semaphore = hal.util->new_semaphore();
if (semaphore == nullptr) {
hal.console->printf("Failed to create DataFlash_File semaphore\n");
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// try to cope with an existing lowercase log directory
// name. NuttX does not handle case insensitive VFAT well
@ -437,8 +443,13 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
return false;
}
if (!semaphore->take(1)) {
return false;
}
if (! WriteBlockCheckStartupMessages()) {
_dropped++;
semaphore->give();
return false;
}
@ -453,12 +464,14 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
// things:
if (space < non_messagewriter_message_reserved_space()) {
// this message isn't dropped, it will be sent again...
semaphore->give();
return false;
}
} else {
// we reserve some amount of space for critical messages:
if (!is_critical && space < critical_message_reserved_space()) {
_dropped++;
semaphore->give();
return false;
}
}
@ -467,6 +480,7 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
if (space < size) {
hal.util->perf_count(_perf_overruns);
_dropped++;
semaphore->give();
return false;
}
@ -490,6 +504,7 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
BUF_ADVANCETAIL(_writebuf, n);
}
}
semaphore->give();
return true;
}

2
libraries/DataFlash/DataFlash_File.h
View File

@ -131,6 +131,8 @@ private:
return ret;
};
AP_HAL::Semaphore *semaphore;
// performance counters
AP_HAL::Util::perf_counter_t _perf_write;
AP_HAL::Util::perf_counter_t _perf_fsync;