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AP_Logger: constraints time spend in header writing, more complete

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chobits 2020-04-09 15:50:54 +08:00 committed by Peter Barker
parent b829384fdf
commit 63320f140a
1 changed files with 26 additions and 3 deletions
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29
libraries/AP_Logger/LoggerMessageWriter.cpp
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@ -6,6 +6,8 @@
#include "ap_version.h"
#undef FORCE_VERSION_H_INCLUDE
#define MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US 200
extern const AP_HAL::HAL& hal;
/* LogStartup - these are simple state machines which allow us to
@ -36,13 +38,13 @@ void LoggerMessageWriter_DFLogStart::reset()
void LoggerMessageWriter_DFLogStart::process()
{
if (AP::scheduler().time_available_usec() < 200) {
return;
}
switch(stage) {
case Stage::FORMATS:
// write log formats so the log is self-describing
while (next_format_to_send < _logger_backend->num_types()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Format(_logger_backend->structure(next_format_to_send))) {
return; // call me again!
}
@ -54,6 +56,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::UNITS:
while (_next_unit_to_send < _logger_backend->num_units()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Unit(_logger_backend->unit(_next_unit_to_send))) {
return; // call me again!
}
@ -64,6 +69,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::MULTIPLIERS:
while (_next_multiplier_to_send < _logger_backend->num_multipliers()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Multiplier(_logger_backend->multiplier(_next_multiplier_to_send))) {
return; // call me again!
}
@ -74,6 +82,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::FORMAT_UNITS:
while (_next_format_unit_to_send < _logger_backend->num_types()) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Format_Units(_logger_backend->structure(_next_format_unit_to_send))) {
return; // call me again!
}
@ -84,6 +95,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::PARMS:
while (ap) {
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_logger_backend->Write_Parameter(ap, token, type)) {
return;
}
@ -95,6 +109,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::SYSINFO:
_writesysinfo.process();
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_writesysinfo.finished()) {
return;
}
@ -103,6 +120,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::WRITE_ENTIRE_MISSION:
_writeentiremission.process();
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_writeentiremission.finished()) {
return;
}
@ -111,6 +131,9 @@ void LoggerMessageWriter_DFLogStart::process()
case Stage::WRITE_ALL_RALLY_POINTS:
_writeallrallypoints.process();
if (AP::scheduler().time_available_usec() < MIN_LOOP_TIME_REMAINING_FOR_MESSAGE_WRITE_US) {
return;
}
if (!_writeallrallypoints.finished()) {
return;
}