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AP_Networking: fixed buffer size handling 

make begin() able to change buffer sizes
This commit is contained in:
Andrew Tridgell 2023-11-19 08:46:46 +11:00 committed by Tom Pittenger
parent 176a4aa51a
commit 8e50584bd8
3 changed files with 40 additions and 14 deletions
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3
libraries/AP_Networking/AP_Networking.h
View File

@ -223,6 +223,9 @@ private:
ByteBuffer *readbuffer;
ByteBuffer *writebuffer;
uint32_t last_size_tx;
uint32_t last_size_rx;
HAL_Semaphore sem;
};
private:

8
libraries/AP_Networking/AP_Networking_Config.h
View File

@ -22,14 +22,6 @@
#define AP_NETWORKING_SOCKETS_ENABLED (HAL_OS_SOCKETS || AP_NETWORKING_BACKEND_CHIBIOS)
#ifndef AP_NETWORKING_PORT_UDP_CLIENT_RX_BUF_DEFAULT_SIZE
#define AP_NETWORKING_PORT_UDP_CLIENT_RX_BUF_DEFAULT_SIZE 4096
#endif
#ifndef AP_NETWORKING_PORT_UDP_CLIENT_TX_BUF_DEFAULT_SIZE
#define AP_NETWORKING_PORT_UDP_CLIENT_TX_BUF_DEFAULT_SIZE 4096
#endif
// ---------------------------
// IP Features
// ---------------------------

43
libraries/AP_Networking/AP_Networking_port.cpp
View File

@ -14,6 +14,14 @@
extern const AP_HAL::HAL& hal;
#ifndef AP_NETWORKING_PORT_MIN_TXSIZE
#define AP_NETWORKING_PORT_MIN_TXSIZE 2048
#endif
#ifndef AP_NETWORKING_PORT_MIN_RXSIZE
#define AP_NETWORKING_PORT_MIN_RXSIZE 2048
#endif
const AP_Param::GroupInfo AP_Networking::Port::var_info[] = {
// @Param: TYPE
// @DisplayName: Port type
@ -26,9 +34,8 @@ const AP_Param::GroupInfo AP_Networking::Port::var_info[] = {
// @Param: PROTOCOL
// @DisplayName: protocol
// @Description: protocol
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:Gimbal, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp
// @RebootRequired: True
// @User: Advanced
// @CopyFieldsFrom: SERIAL0_PROTOCOL
AP_GROUPINFO("PROTOCOL", 2, AP_Networking::Port, state.protocol, 0),
// @Group: IP
@ -61,7 +68,7 @@ void AP_Networking::ports_init(void)
case NetworkPortType::NONE:
break;
case NetworkPortType::UDP_CLIENT:
p.udp_client_init(AP_NETWORKING_PORT_UDP_CLIENT_RX_BUF_DEFAULT_SIZE, AP_NETWORKING_PORT_UDP_CLIENT_TX_BUF_DEFAULT_SIZE);
p.udp_client_init(AP_NETWORKING_PORT_MIN_RXSIZE, AP_NETWORKING_PORT_MIN_TXSIZE);
break;
}
if (p.sock != nullptr) {
@ -75,6 +82,7 @@ void AP_Networking::ports_init(void)
*/
void AP_Networking::Port::udp_client_init(const uint32_t size_rx, const uint32_t size_tx)
{
WITH_SEMAPHORE(sem);
if (!init_buffers(size_rx, size_tx)) {
return;
}
@ -112,6 +120,7 @@ void AP_Networking::Port::udp_client_loop(void)
while (true) {
hal.scheduler->delay_microseconds(500);
WITH_SEMAPHORE(sem);
// handle outgoing packets
uint32_t available;
@ -141,32 +150,39 @@ void AP_Networking::Port::udp_client_loop(void)
*/
uint32_t AP_Networking::Port::txspace(void)
{
WITH_SEMAPHORE(sem);
return writebuffer->space();
}
void AP_Networking::Port::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
// TODO: use buffer sizes
rxS = MAX(rxS, AP_NETWORKING_PORT_MIN_RXSIZE);
txS = MAX(txS, AP_NETWORKING_PORT_MIN_TXSIZE);
init_buffers(rxS, txS);
}
size_t AP_Networking::Port::_write(const uint8_t *buffer, size_t size)
{
WITH_SEMAPHORE(sem);
return writebuffer->write(buffer, size);
}
ssize_t AP_Networking::Port::_read(uint8_t *buffer, uint16_t count)
{
WITH_SEMAPHORE(sem);
return readbuffer->read(buffer, count);
}
uint32_t AP_Networking::Port::_available()
{
WITH_SEMAPHORE(sem);
return readbuffer->available();
}
bool AP_Networking::Port::_discard_input()
{
WITH_SEMAPHORE(sem);
readbuffer->clear();
return true;
}
@ -176,8 +192,23 @@ bool AP_Networking::Port::_discard_input()
*/
bool AP_Networking::Port::init_buffers(const uint32_t size_rx, const uint32_t size_tx)
{
readbuffer = new ByteBuffer(size_rx);
writebuffer = new ByteBuffer(size_tx);
if (size_tx == last_size_tx &&
size_rx == last_size_rx) {
return true;
}
WITH_SEMAPHORE(sem);
if (readbuffer == nullptr) {
readbuffer = new ByteBuffer(size_rx);
} else {
readbuffer->set_size_best(size_rx);
}
if (writebuffer == nullptr) {
writebuffer = new ByteBuffer(size_tx);
} else {
writebuffer->set_size_best(size_tx);
}
last_size_rx = size_rx;
last_size_tx = size_tx;
return readbuffer != nullptr && writebuffer != nullptr;
}