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AP_Logger: multiply IO thread timeout according to SITL speedup 

Intended to solve issues we're now getting on CI where the IO thread is
blocking-on-write and the main thread is calling it dead.
This commit is contained in:
Peter Barker 2021-03-24 09:31:10 +11:00 committed by Peter Barker
parent dc290a8884
commit f261045a2d
1 changed files with 17 additions and 3 deletions
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20
libraries/AP_Logger/AP_Logger_File.cpp
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@ -960,9 +960,23 @@ void AP_Logger_File::io_timer(void)
bool AP_Logger_File::io_thread_alive() const
{
// if the io thread hasn't had a heartbeat in a full seconds then it is dead
// this is enough time for a sdcard remount
return (AP_HAL::millis() - _io_timer_heartbeat) < 3000U || !hal.scheduler->is_system_initialized();
if (!hal.scheduler->is_system_initialized()) {
// the system has long pauses during initialisation
return false;
}
// if the io thread hasn't had a heartbeat in a while then it is
// considered dead. Three seconds is enough time for a sdcard remount.
uint32_t timeout_ms = 3000;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// the IO thread is working with hardware - writing to a physical
// disk. Unfortunately these hardware devices do not obey our
// SITL speedup options, so we allow for it here.
SITL::SITL *sitl = AP::sitl();
if (sitl != nullptr) {
timeout_ms *= sitl->speedup;
}
#endif
return (AP_HAL::millis() - _io_timer_heartbeat) < timeout_ms;
}
bool AP_Logger_File::logging_failed() const