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AP_Logger: take a blocking semaphore when writing messages using the block logger

This commit is contained in:
Andy Piper 2024-06-08 12:04:19 +01:00 committed by Randy Mackay
parent 6c916c000a
commit 3152d4a9ad
1 changed files with 1 additions and 8 deletions
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9
libraries/AP_Logger/AP_Logger_Block.cpp
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@ -137,10 +137,7 @@ bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
return false; return false;
} }
if (!write_sem.take(1)) { WITH_SEMAPHORE(write_sem);
_dropped++;
return false;
}
const uint32_t space = writebuf.space(); const uint32_t space = writebuf.space();
@ -155,7 +152,6 @@ bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
if (!must_dribble && if (!must_dribble &&
space < non_messagewriter_message_reserved_space(writebuf.get_size())) { space < non_messagewriter_message_reserved_space(writebuf.get_size())) {
// this message isn't dropped, it will be sent again... // this message isn't dropped, it will be sent again...
write_sem.give();
return false; return false;
} }
last_messagewrite_message_sent = now; last_messagewrite_message_sent = now;
@ -163,7 +159,6 @@ bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
// we reserve some amount of space for critical messages: // we reserve some amount of space for critical messages:
if (!is_critical && space < critical_message_reserved_space(writebuf.get_size())) { if (!is_critical && space < critical_message_reserved_space(writebuf.get_size())) {
_dropped++; _dropped++;
write_sem.give();
return false; return false;
} }
} }
@ -171,13 +166,11 @@ bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
// if no room for entire message - drop it: // if no room for entire message - drop it:
if (space < size) { if (space < size) {
_dropped++; _dropped++;
write_sem.give();
return false; return false;
} }
writebuf.write((uint8_t*)pBuffer, size); writebuf.write((uint8_t*)pBuffer, size);
df_stats_gather(size, writebuf.space()); df_stats_gather(size, writebuf.space());
write_sem.give();
return true; return true;
} }