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AP_Logger: prevent long loops due to parameter logging 

ensure that the logging process() doesn't take more than 1ms
This commit is contained in:
Andrew Tridgell 2022-12-04 09:55:23 +11:00
parent 4d51173e9c
commit ae84adf632
2 changed files with 30 additions and 6 deletions
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33
libraries/AP_Logger/LoggerMessageWriter.cpp
View File

@ -71,17 +71,33 @@ bool LoggerMessageWriter_DFLogStart::out_of_time_for_writing_messages() const
return LoggerMessageWriter::out_of_time_for_writing_messages(); return LoggerMessageWriter::out_of_time_for_writing_messages();
} }
/*
check if we've taken too long in a process() stage
return true if we should stop processing now as we are out of time
*/
bool LoggerMessageWriter_DFLogStart::check_process_limit(uint32_t start_us)
{
const uint32_t limit_us = 1000U;
if (AP_HAL::micros() - start_us > limit_us) {
return true;
}
return false;
}
void LoggerMessageWriter_DFLogStart::process() void LoggerMessageWriter_DFLogStart::process()
{ {
if (out_of_time_for_writing_messages()) { if (out_of_time_for_writing_messages()) {
return; return;
} }
// allow any stage to run for max 1ms, to prevent a long loop on arming
const uint32_t start_us = AP_HAL::micros();
switch(stage) { switch(stage) {
case Stage::FORMATS: case Stage::FORMATS:
// write log formats so the log is self-describing // write log formats so the log is self-describing
while (next_format_to_send < _logger_backend->num_types()) { while (next_format_to_send < _logger_backend->num_types()) {
if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) { if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send)) ||
check_process_limit(start_us)) {
return; // call me again! return; // call me again!
} }
next_format_to_send++; next_format_to_send++;
@ -90,9 +106,10 @@ void LoggerMessageWriter_DFLogStart::process()
stage = Stage::PARMS; stage = Stage::PARMS;
FALLTHROUGH; FALLTHROUGH;
case Stage::PARMS: case Stage::PARMS: {
while (ap) { while (ap) {
if (!_logger_backend->Write_Parameter(ap, token, type, param_default)) { if (!_logger_backend->Write_Parameter(ap, token, type, param_default) ||
check_process_limit(start_us)) {
return; return;
} }
param_default = AP::logger().quiet_nanf(); param_default = AP::logger().quiet_nanf();
@ -101,11 +118,13 @@ void LoggerMessageWriter_DFLogStart::process()
_params_done = true; _params_done = true;
stage = Stage::UNITS; stage = Stage::UNITS;
}
FALLTHROUGH; FALLTHROUGH;
case Stage::UNITS: case Stage::UNITS:
while (_next_unit_to_send < _logger_backend->num_units()) { while (_next_unit_to_send < _logger_backend->num_units()) {
if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) { if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send)) ||
check_process_limit(start_us)) {
return; // call me again! return; // call me again!
} }
_next_unit_to_send++; _next_unit_to_send++;
@ -115,7 +134,8 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::MULTIPLIERS: case Stage::MULTIPLIERS:
while (_next_multiplier_to_send < _logger_backend->num_multipliers()) { while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) { if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send)) ||
check_process_limit(start_us)) {
return; // call me again! return; // call me again!
} }
_next_multiplier_to_send++; _next_multiplier_to_send++;
@ -125,7 +145,8 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::FORMAT_UNITS: case Stage::FORMAT_UNITS:
while (_next_format_unit_to_send < _logger_backend->num_types()) { while (_next_format_unit_to_send < _logger_backend->num_types()) {
if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) { if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send)) ||
check_process_limit(start_us)) {
return; // call me again! return; // call me again!
} }
_next_format_unit_to_send++; _next_format_unit_to_send++;

3
libraries/AP_Logger/LoggerMessageWriter.h
View File

@ -145,6 +145,9 @@ public:
private: private:
// check for using too much time
static bool check_process_limit(uint32_t start_us);
enum class Stage { enum class Stage {
FORMATS = 0, FORMATS = 0,
UNITS, UNITS,