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AP_Param: use background parameter save 

this moves both the storage scan and the save code out of the main
thread and into the IO thread. It means that if we have more than 30
parameters saves in very rapid succession while armed that we can lose
parameter changes, but that is extremely unlikely.

This fixes an issue where parameter saves in flight can cause
considerable scheduling problems, sometimes several milliseconds
This commit is contained in:
Andrew Tridgell 2018-08-06 14:43:30 +10:00
parent 7c79175309
commit 4d662a913a
2 changed files with 98 additions and 20 deletions
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77
libraries/AP_Param/AP_Param.cpp
View File

@ -68,6 +68,12 @@ const AP_Param::Info *AP_Param::_var_info;
struct AP_Param::param_override *AP_Param::param_overrides = nullptr;
uint16_t AP_Param::num_param_overrides = 0;
ObjectBuffer<AP_Param::param_save> AP_Param::save_queue{30};
bool AP_Param::registered_save_handler;
// we need a dummy object for the parameter save callback
static AP_Param save_dummy;
/*
this holds default parameters in the normal NAME=value form for a
parameter file. It can be manipulated by apj_tool.py to change the
@ -977,9 +983,10 @@ void AP_Param::notify() const {
}
// Save the variable to EEPROM, if supported
//
bool AP_Param::save(bool force_save)
/*
Save the variable to HAL storage, synchronous version
*/
void AP_Param::save_sync(bool force_save)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
@ -990,7 +997,7 @@ bool AP_Param::save(bool force_save)
if (info == nullptr) {
// we don't have any info on how to store it
return false;
return;
}
struct Param_header phdr;
@ -1007,7 +1014,7 @@ bool AP_Param::save(bool force_save)
ap = this;
if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
// only vector3f can have non-zero idx for now
return false;
return;
}
if (idx != 0) {
ap = (const AP_Param *)((ptrdiff_t)ap) - (idx*sizeof(float));
@ -1027,10 +1034,10 @@ bool AP_Param::save(bool force_save)
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
return true;
return;
}
if (ofs == (uint16_t) ~0) {
return false;
return;
}
// if the value is the default value then don't save
@ -1044,7 +1051,7 @@ bool AP_Param::save(bool force_save)
}
if (is_equal(v1,v2) && !force_save) {
gcs().send_parameter_value(name, (enum ap_var_type)info->type, v2);
return true;
return;
}
if (!force_save &&
(phdr.type != AP_PARAM_INT32 &&
@ -1052,14 +1059,14 @@ bool AP_Param::save(bool force_save)
// for other than 32 bit integers, we accept values within
// 0.01 percent of the current value as being the same
gcs().send_parameter_value(name, (enum ap_var_type)info->type, v2);
return true;
return;
}
}
if (ofs+type_size((enum ap_var_type)phdr.type)+2*sizeof(phdr) >= _storage.size()) {
// we are out of room for saving variables
hal.console->printf("EEPROM full\n");
return false;
return;
}
// write a new sentinal, then the data, then the header
@ -1068,7 +1075,50 @@ bool AP_Param::save(bool force_save)
eeprom_write_check(&phdr, ofs, sizeof(phdr));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
return true;
}
/*
put variable into queue to be saved
*/
void AP_Param::save(bool force_save)
{
struct param_save p;
p.param = this;
p.force_save = force_save;
while (!save_queue.push(p)) {
// if we can't save to the queue
if (hal.util->get_soft_armed()) {
// if we are armed then don't sleep, instead we lose the
// parameter save
return;
}
// when we are disarmed then loop waiting for a slot to become
// available. This guarantees completion for large parameter
// set loads
hal.scheduler->delay_microseconds(500);
}
}
/*
background function for saving parameters. This runs on the IO thread
*/
void AP_Param::save_io_handler(void)
{
struct param_save p;
while (save_queue.pop(p)) {
p.param->save_sync(p.force_save);
}
}
/*
wait for all parameters to save
*/
void AP_Param::flush(void)
{
uint16_t counter = 200; // 2 seconds max
while (counter-- && save_queue.available()) {
hal.scheduler->delay(10);
}
}
// Load the variable from EEPROM, if supported
@ -1276,6 +1326,11 @@ bool AP_Param::load_all()
reload_defaults_file(false);
if (!registered_save_handler) {
registered_save_handler = true;
hal.scheduler->register_io_process(FUNCTOR_BIND((&save_dummy), &AP_Param::save_io_handler, void));
}
while (ofs < _storage.size()) {
_storage.read_block(&phdr, ofs, sizeof(phdr));
// note that this is an || not an && for robustness

41
libraries/AP_Param/AP_Param.h
View File

@ -25,6 +25,7 @@
#include <cmath>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <StorageManager/StorageManager.h>
#include "float.h"
@ -301,14 +302,24 @@ public:
///
void notify() const;
/// Save the current value of the variable to EEPROM.
/// Save the current value of the variable to storage, synchronous API
///
/// @param force_save If true then force save even if default
///
/// @return True if the variable was saved successfully.
///
bool save(bool force_save=false);
void save_sync(bool force_save=false);
/// flush all pending parameter saves
/// used on reboot
static void flush(void);
/// Save the current value of the variable to storage, async interface
///
/// @param force_save If true then force save even if default
///
void save(bool force_save=false);
/// Load the variable from EEPROM.
///
/// @return True if the variable was loaded successfully.
@ -608,6 +619,18 @@ private:
static const uint8_t k_EEPROM_revision = 6; ///< current format revision
static bool _hide_disabled_groups;
// support for background saving of parameters. We pack it to reduce memory for the
// queue
struct PACKED param_save {
AP_Param *param;
bool force_save;
};
static ObjectBuffer<struct param_save> save_queue;
static bool registered_save_handler;
// background function for saving parameters
void save_io_handler(void);
};
/// Template class for scalar variables.
@ -660,10 +683,10 @@ public:
/// Combined set and save
///
bool set_and_save(const T &v) {
void set_and_save(const T &v) {
bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
set(v);
return save(force);
save(force);
}
/// Combined set and save, but only does the save if the value if
@ -671,12 +694,12 @@ public:
/// scan(). This should only be used where we have not set() the
/// value separately, as otherwise the value in EEPROM won't be
/// updated correctly.
bool set_and_save_ifchanged(const T &v) {
void set_and_save_ifchanged(const T &v) {
if (v == _value) {
return true;
return;
}
set(v);
return save(true);
save(true);
}
/// Conversion to T returns a reference to the value.
@ -765,10 +788,10 @@ public:
/// Combined set and save
///
bool set_and_save(const T &v) {
void set_and_save(const T &v) {
bool force = (_value != v);
set(v);
return save(force);
save(force);
}
/// Conversion to T returns a reference to the value.