From 3d7c6a9cfbf19a331c7a4ee49f0853071de48836 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 17 Jan 2023 13:35:14 +1100
Subject: [PATCH] AP_Logger: avoid logging duplicate FMT/UNIT/FMTU/MULT
 messages

Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.

it is important we try to send something, so move this check to be after we increment whichever counter we are using.
---
 libraries/AP_Logger/LoggerMessageWriter.cpp | 30 ++++++++++++++-------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Logger/LoggerMessageWriter.cpp b/libraries/AP_Logger/LoggerMessageWriter.cpp
index 396e264b2a..a2de4a51b4 100644
--- a/libraries/AP_Logger/LoggerMessageWriter.cpp
+++ b/libraries/AP_Logger/LoggerMessageWriter.cpp
@@ -95,11 +95,13 @@ void LoggerMessageWriter_DFLogStart::process()
     case Stage::FORMATS:
         // write log formats so the log is self-describing
         while (next_format_to_send < _logger_backend->num_types()) {
-            if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send)) ||
-                check_process_limit(start_us)) {
+            if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
                 return; // call me again!
             }
             next_format_to_send++;
+            if (check_process_limit(start_us)) {
+                return; // call me again!
+            }
         }
         _fmt_done = true;
         stage = Stage::PARMS;
@@ -107,12 +109,14 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::PARMS: {
         while (ap) {
-            if (!_logger_backend->Write_Parameter(ap, token, type, param_default) ||
-                check_process_limit(start_us)) {
+            if (!_logger_backend->Write_Parameter(ap, token, type, param_default)) {
                 return;
             }
             param_default = AP::logger().quiet_nanf();
             ap = AP_Param::next_scalar(&token, &type, &param_default);
+            if (check_process_limit(start_us)) {
+                return; // call me again!
+            }
         }
 
         _params_done = true;
@@ -122,33 +126,39 @@ void LoggerMessageWriter_DFLogStart::process()
 
     case Stage::UNITS:
         while (_next_unit_to_send < _logger_backend->num_units()) {
-            if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send)) ||
-                check_process_limit(start_us)) {
+            if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
                 return; // call me again!
             }
             _next_unit_to_send++;
+            if (check_process_limit(start_us)) {
+                return; // call me again!
+            }
         }
         stage = Stage::MULTIPLIERS;
         FALLTHROUGH;
 
     case Stage::MULTIPLIERS:
         while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
-            if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send)) ||
-                check_process_limit(start_us)) {
+            if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
                 return; // call me again!
             }
             _next_multiplier_to_send++;
+            if (check_process_limit(start_us)) {
+                return; // call me again!
+            }
         }
         stage = Stage::UNITS;
         FALLTHROUGH;
 
     case Stage::FORMAT_UNITS:
         while (_next_format_unit_to_send < _logger_backend->num_types()) {
-            if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send)) ||
-                check_process_limit(start_us)) {
+            if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
                 return; // call me again!
             }
             _next_format_unit_to_send++;
+            if (check_process_limit(start_us)) {
+                return; // call me again!
+            }
         }
         stage = Stage::RUNNING_SUBWRITERS;
         FALLTHROUGH;