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AP_Logger: use WITH_SEMAPHORE in _WritePrioritisedBlock

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this prevents a 1ms delay when waiting for the semaphore
This commit is contained in:
Andrew Tridgell 2020-11-08 14:32:24 +11:00
parent 7a8e8b8b51
commit 2945de4796
1 changed files with 3 additions and 8 deletions
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11
libraries/AP_Logger/AP_Logger_File.cpp
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@ -490,6 +490,8 @@ bool AP_Logger_File::StartNewLogOK() const
/* Write a block of data at current offset */
bool AP_Logger_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
{
WITH_SEMAPHORE(semaphore);
if (! WriteBlockCheckStartupMessages()) {
_dropped++;
return false;
@ -502,10 +504,7 @@ bool AP_Logger_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
return true;
#endif
if (!semaphore.take(1)) {
return false;
}
uint32_t space = _writebuf.space();
if (_writing_startup_messages &&
@ -519,7 +518,6 @@ bool AP_Logger_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
if (!must_dribble &&
space < non_messagewriter_message_reserved_space(_writebuf.get_size())) {
// this message isn't dropped, it will be sent again...
semaphore.give();
return false;
}
last_messagewrite_message_sent = now;
@ -527,7 +525,6 @@ bool AP_Logger_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
// we reserve some amount of space for critical messages:
if (!is_critical && space < critical_message_reserved_space(_writebuf.get_size())) {
_dropped++;
semaphore.give();
return false;
}
}
@ -536,13 +533,11 @@ bool AP_Logger_File::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
if (space < size) {
hal.util->perf_count(_perf_overruns);
_dropped++;
semaphore.give();
return false;
}
_writebuf.write((uint8_t*)pBuffer, size);
df_stats_gather(size, _writebuf.space());
semaphore.give();
return true;
}