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GCS_MAVLink: make per channel perf counter non-static

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Otherwise the perf counter from one channel may affect the other if
during an update of one channel the update function of the other gets
called.
This commit is contained in:
Lucas De Marchi 2017-08-02 02:23:07 -07:00
parent b4f46b14f0
commit b9877e0d38
2 changed files with 11 additions and 12 deletions
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6
libraries/GCS_MAVLink/GCS.h
View File

@ -361,9 +361,9 @@ private:
uint8_t stream_slowdown;
// perf counters
static AP_HAL::Util::perf_counter_t _perf_packet;
static AP_HAL::Util::perf_counter_t _perf_update;
AP_HAL::Util::perf_counter_t _perf_packet;
AP_HAL::Util::perf_counter_t _perf_update;
// deferred message handling. We size the deferred_message
// ringbuffer so we can defer every message type
enum ap_message deferred_messages[MSG_LAST];

17
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -23,6 +23,7 @@
#include "AP_Common/AP_FWVersion.h"
#include "GCS.h"
#include <stdio.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <drivers/drv_pwm_output.h>
#include <sys/types.h>
@ -37,9 +38,6 @@ uint8_t GCS_MAVLINK::mavlink_active = 0;
uint8_t GCS_MAVLINK::chan_is_streaming = 0;
uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_packet;
AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_update;
GCS *GCS::_singleton = nullptr;
GCS_MAVLINK::GCS_MAVLINK()
@ -61,12 +59,13 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
initialised = true;
_queued_parameter = nullptr;
if (!_perf_packet) {
_perf_packet = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "GCS_Packet");
}
if (!_perf_update) {
_perf_update = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "GCS_Update");
}
char perf_name[16];
snprintf(perf_name, sizeof(perf_name), "GCS_Packet_%u", chan);
_perf_packet = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, perf_name);
snprintf(perf_name, sizeof(perf_name), "GCS_Update_%u", chan);
_perf_update = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, perf_name);
}