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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 9044b72a68
commit 43262ee036
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;
}
if (!write_sem.take(1)) {
_dropped++;
return false;
}
WITH_SEMAPHORE(write_sem);
const uint32_t space = writebuf.space();
@ -155,7 +152,6 @@ bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
if (!must_dribble &&
space < non_messagewriter_message_reserved_space(writebuf.get_size())) {
// this message isn't dropped, it will be sent again...
write_sem.give();
return false;
}
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:
if (!is_critical && space < critical_message_reserved_space(writebuf.get_size())) {
_dropped++;
write_sem.give();
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 (space < size) {
_dropped++;
write_sem.give();
return false;
}
writebuf.write((uint8_t*)pBuffer, size);
df_stats_gather(size, writebuf.space());
write_sem.give();
return true;
}