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DataFlash: add a heartbeat for the io thread in DataFlash_File

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This commit is contained in:
Peter Barker 2016-11-06 17:09:39 +11:00 committed by Tom Pittenger
parent e11c276b35
commit bc45ab5409
2 changed files with 32 additions and 1 deletions
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29
libraries/DataFlash/DataFlash_File.cpp
View File

@ -29,6 +29,7 @@
#include <stdio.h> #include <stdio.h>
#include <time.h> #include <time.h>
#include <dirent.h> #include <dirent.h>
#include <GCS_MAVLink/GCS.h>
#if defined(__APPLE__) && defined(__MACH__) #if defined(__APPLE__) && defined(__MACH__)
#include <sys/param.h> #include <sys/param.h>
#include <sys/mount.h> #include <sys/mount.h>
@ -182,6 +183,18 @@ bool DataFlash_File::log_exists(const uint16_t lognum) const
return ret; return ret;
} }
void DataFlash_File::periodic_1Hz(const uint32_t now)
{
if (!io_thread_alive()) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "No IO Thread Heartbeat");
// If you try to close the file here then it will almost
// certainly block. Since this is the main thread, this is
// likely to cause a crash.
_write_fd = -1;
_initialised = false;
}
}
void DataFlash_File::periodic_fullrate(const uint32_t now) void DataFlash_File::periodic_fullrate(const uint32_t now)
{ {
DataFlash_Backend::push_log_blocks(); DataFlash_Backend::push_log_blocks();
@ -1017,6 +1030,8 @@ void DataFlash_File::flush(void)
void DataFlash_File::_io_timer(void) void DataFlash_File::_io_timer(void)
{ {
uint32_t tnow = AP_HAL::millis();
_io_timer_heartbeat = tnow;
if (_write_fd == -1 || !_initialised || _open_error) { if (_write_fd == -1 || !_initialised || _open_error) {
return; return;
} }
@ -1025,7 +1040,6 @@ void DataFlash_File::_io_timer(void)
if (nbytes == 0) { if (nbytes == 0) {
return; return;
} }
uint32_t tnow = AP_HAL::millis();
if (nbytes < _writebuf_chunk && if (nbytes < _writebuf_chunk &&
tnow - _last_write_time < 2000UL) { tnow - _last_write_time < 2000UL) {
// write in _writebuf_chunk-sized chunks, but always write at // write in _writebuf_chunk-sized chunks, but always write at
@ -1094,6 +1108,13 @@ bool DataFlash_File::logging_enabled() const
return false; return false;
} }
bool DataFlash_File::io_thread_alive() const
{
uint32_t tnow = AP_HAL::millis();
// if the io thread hasn't had a heartbeat in a full second then it is dead
return _io_timer_heartbeat + 1000 > tnow;
}
bool DataFlash_File::logging_failed() const bool DataFlash_File::logging_failed() const
{ {
if (_write_fd == -1 && if (_write_fd == -1 &&
@ -1104,6 +1125,12 @@ bool DataFlash_File::logging_failed() const
if (_open_error) { if (_open_error) {
return true; return true;
} }
if (!io_thread_alive()) {
// No heartbeat in a second. IO thread is dead?! Very Not
// Good.
return true;
}
return false; return false;
} }

4
libraries/DataFlash/DataFlash_File.h
View File

@ -64,6 +64,7 @@ public:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
void flush(void); void flush(void);
#endif #endif
void periodic_1Hz(const uint32_t now) override;
void periodic_fullrate(const uint32_t now); void periodic_fullrate(const uint32_t now);
// this method is used when reporting system status over mavlink // this method is used when reporting system status over mavlink
@ -82,6 +83,9 @@ private:
volatile bool _open_error; volatile bool _open_error;
const char *_log_directory; const char *_log_directory;
uint32_t _io_timer_heartbeat;
bool io_thread_alive() const;
uint16_t _cached_oldest_log; uint16_t _cached_oldest_log;
/* /*