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GCS_MAVLink: count parameters in param thread 

This helps avoid counting parameters on the main thread,
avoiding long-loops
This commit is contained in:
Peter Barker 2017-05-10 16:30:20 +10:00 committed by Randy Mackay
parent 201de74fec
commit 6105452ccb
1 changed files with 10 additions and 7 deletions
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17
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -233,14 +233,8 @@ void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
// queue it for processing by io timer // queue it for processing by io timer
param_requests.push(req); param_requests.push(req);
if (!param_timer_registered) {
param_timer_registered = true;
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::param_io_timer, void));
}
} }
void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash) void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{ {
mavlink_param_set_t packet; mavlink_param_set_t packet;
@ -355,6 +349,11 @@ void GCS_MAVLINK::send_parameter_value_all(const char *param_name, ap_var_type p
*/ */
void GCS_MAVLINK::send_queued_parameters(void) void GCS_MAVLINK::send_queued_parameters(void)
{ {
if (!param_timer_registered) {
param_timer_registered = true;
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::param_io_timer, void));
}
if (_queued_parameter == nullptr && if (_queued_parameter == nullptr &&
param_replies.empty()) { param_replies.empty()) {
return; return;
@ -375,6 +374,10 @@ void GCS_MAVLINK::param_io_timer(void)
{ {
struct pending_param_request req; struct pending_param_request req;
// this is mostly a no-op, but doing this here means we won't
// block the main thread counting parameters (~30ms on PH)
AP_Param::count_parameters();
if (param_replies.space() == 0) { if (param_replies.space() == 0) {
// no room // no room
return; return;