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GCS_MAVLink: avoid log scans when possible 

don't scan logs when the GCS sends a new data request
This commit is contained in:
Andrew Tridgell 2013-12-29 15:00:04 +11:00
parent a43e0f6f31
commit 87226fed97
2 changed files with 22 additions and 13 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -265,6 +265,9 @@ private:
// offset in log
uint32_t _log_data_offset;
// size of log file
uint32_t _log_data_size;
// number of bytes left to send
uint32_t _log_data_remaining;

32
libraries/GCS_MAVLink/GCS_Logs.cpp
View File

@ -89,28 +89,33 @@ void GCS_MAVLINK::handle_log_request_data(mavlink_message_t *msg, DataFlash_Clas
return;
_log_listing = false;
_log_sending = false;
if (!_log_sending || _log_num_data != packet.id) {
_log_sending = false;
uint16_t num_logs = dataflash.get_num_logs();
int16_t last_log_num = dataflash.find_last_log();
if (packet.id > last_log_num || packet.id < last_log_num + 1 - num_logs) {
return;
uint16_t num_logs = dataflash.get_num_logs();
int16_t last_log_num = dataflash.find_last_log();
if (packet.id > last_log_num || packet.id < last_log_num + 1 - num_logs) {
return;
}
uint32_t time_utc, size;
dataflash.get_log_info(packet.id, size, time_utc);
_log_num_data = packet.id;
_log_data_size = size;
uint16_t end;
dataflash.get_log_boundaries(packet.id, _log_data_page, end);
}
uint32_t time_utc, size;
dataflash.get_log_info(packet.id, size, time_utc);
uint16_t end;
dataflash.get_log_boundaries(packet.id, _log_data_page, end);
_log_num_data = packet.id;
_log_data_offset = packet.ofs;
if (_log_data_offset >= size) {
if (_log_data_offset >= _log_data_size) {
_log_data_remaining = 0;
} else {
_log_data_remaining = size - _log_data_offset;
_log_data_remaining = _log_data_size - _log_data_offset;
}
if (_log_data_remaining > packet.count) {
_log_data_remaining = packet.count;
}
_log_data_offset = packet.ofs;
_log_sending = true;
handle_log_send(dataflash);
@ -176,6 +181,7 @@ void GCS_MAVLINK::handle_log_send_listing(DataFlash_Class &dataflash)
*/
bool GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
{
uint32_t start = hal.scheduler->micros();
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space < MAVLINK_MSG_ID_LOG_DATA_LEN) {
// no space