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refactor param: move autosave to px4::wq_configurations::lp_default work queue 

Changes initialization order as param_init now depends on wq manager
This commit is contained in:
Beat Küng 2023-03-14 09:38:59 +01:00
parent e65a0a01d6
commit 1bfca24fa9
6 changed files with 202 additions and 86 deletions
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5
platforms/nuttx/src/px4/common/px4_init.cpp
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@ -127,8 +127,6 @@ int px4_platform_init()
hrt_ioctl_init();
#endif
param_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
@ -180,9 +178,10 @@ int px4_platform_init()
#endif // CONFIG_FS_BINFS
px4::WorkQueueManagerStart();
param_init();
uorb_start();
px4_log_initialize();

4
platforms/posix/src/px4/common/px4_init.cpp
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@ -44,10 +44,10 @@ int px4_platform_init(void)
{
hrt_init();
param_init();
px4::WorkQueueManagerStart();
param_init();
uorb_start();
px4_log_initialize();

2
src/lib/parameters/CMakeLists.txt
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@ -156,7 +156,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
set(SRCS)
list(APPEND SRCS parameters.cpp atomic_transaction.cpp)
list(APPEND SRCS parameters.cpp atomic_transaction.cpp autosave.cpp)
if(BUILD_TESTING)
list(APPEND SRCS param_translation_unit_tests.cpp)

119
src/lib/parameters/autosave.cpp Normal file
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@ -0,0 +1,119 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "autosave.h"
#include <px4_platform_common/log.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/Subscription.hpp>
#include "param.h"
#include "atomic_transaction.h"
using namespace time_literals;
ParamAutosave::ParamAutosave()
: ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
}
void ParamAutosave::request()
{
if (_scheduled.load() || _disabled) {
return;
}
// wait at least 300ms before saving, because:
// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
// - the logger stores changed params. He gets notified on a param change via uORB and then
// looks at all unsaved params.
hrt_abstime delay = 300_ms;
static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
const hrt_abstime last_save_elapsed = hrt_elapsed_time(&_last_timestamp);
if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
delay = rate_limit - last_save_elapsed;
}
_scheduled.store(true);
ScheduleDelayed(delay);
}
void ParamAutosave::enable(bool enable)
{
AtomicTransaction transaction;
_disabled = !enable;
if (!enable && _scheduled.load()) {
_scheduled.store(false);
px4::ScheduledWorkItem::ScheduleClear();
}
}
void ParamAutosave::Run()
{
bool disabled = false;
if (!param_get_default_file()) {
// In case we save to FLASH, defer param writes until disarmed,
// as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7)
uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
if (armed_sub.get().armed) {
ScheduleDelayed(1_s);
return;
}
}
{
const AtomicTransaction transaction;
_last_timestamp = hrt_absolute_time();
// Note that the order is important here: we first clear _scheduled, then save the parameters, as during export,
// more parameter changes could happen.
_scheduled.store(false);
disabled = _disabled;
}
if (disabled) {
return;
}
PX4_DEBUG("Autosaving params");
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param auto save failed (%i)", ret);
}
}

63
src/lib/parameters/autosave.h Normal file
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@ -0,0 +1,63 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/atomic.h>
#include <drivers/drv_hrt.h>
class ParamAutosave : public px4::ScheduledWorkItem
{
public:
ParamAutosave();
/**
* Automatically save the parameters after a timeout and at limited rate.
*/
void request();
void enable(bool enable);
bool enabled() const { return !_disabled; }
hrt_abstime lastAutosave() const { return _last_timestamp; }
void Run() override;
private:
hrt_abstime _last_timestamp{0};
px4::atomic_bool _scheduled{false};
bool _disabled{false};
};

95
src/lib/parameters/parameters.cpp
View File

@ -66,7 +66,6 @@ using namespace time_literals;
#include "uORB/uORB.h"
#include "uORB/topics/parameter_update.h"
#include <uORB/topics/actuator_armed.h>
#include <uORB/Subscription.hpp>
#include "ExhaustiveLayer.h"
@ -95,12 +94,8 @@ inline static int flash_param_import() { return -1; }
static char *param_default_file = nullptr;
static char *param_backup_file = nullptr;
#include <px4_platform_common/workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
static struct work_s autosave_work {};
static px4::atomic_bool autosave_scheduled{false};
static bool autosave_disabled = false;
#include "autosave.h"
static ParamAutosave *autosave_instance {nullptr};
static px4::AtomicBitset<param_info_count> params_active; // params found
static px4::AtomicBitset<param_info_count> params_unsaved;
@ -132,6 +127,8 @@ param_init()
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
px4_register_boardct_ioctl(_PARAMIOCBASE, param_ioctl);
#endif
autosave_instance = new ParamAutosave();
}
@ -355,85 +352,19 @@ bool param_value_is_default(param_t param)
return true;
}
/**
* worker callback method to save the parameters
* @param arg unused
*/
static void
autosave_worker(void *arg)
{
bool disabled = false;
if (!param_get_default_file()) {
// In case we save to FLASH, defer param writes until disarmed,
// as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7)
uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
if (armed_sub.get().armed) {
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(1_s));
return;
}
}
{
const AtomicTransaction transaction;
last_autosave_timestamp = hrt_absolute_time();
autosave_scheduled.store(false);
disabled = autosave_disabled;
}
if (disabled) {
return;
}
PX4_DEBUG("Autosaving params");
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param auto save failed (%i)", ret);
}
}
/**
* Automatically save the parameters after a timeout and limited rate.
*
* This needs to be called with the writer lock held (it's not necessary that it's the writer lock, but it
* needs to be the same lock as autosave_worker() and param_control_autosave() use).
*/
static void
param_autosave()
{
if (autosave_scheduled.load() || autosave_disabled) {
return;
if (autosave_instance) {
autosave_instance->request();
}
// wait at least 300ms before saving, because:
// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
// - the logger stores changed params. He gets notified on a param change via uORB and then
// looks at all unsaved params.
hrt_abstime delay = 300_ms;
static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
delay = rate_limit - last_save_elapsed;
}
autosave_scheduled.store(true);
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(delay));
}
void
param_control_autosave(bool enable)
{
AtomicTransaction transaction;
autosave_disabled = !enable;
if (!enable && autosave_scheduled.load()) {
autosave_scheduled.store(false);
transaction.unlock();
work_cancel(LPWORK, &autosave_work);
if (autosave_instance) {
autosave_instance->enable(enable);
}
}
@ -1325,10 +1256,14 @@ void param_print_status()
PX4_INFO("storage array (custom defaults): %d/%d elements (%zu bytes total)",
runtime_defaults.size(), firmware_defaults.size(), (size_t)runtime_defaults.byteSize());
PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
if (autosave_instance) {
PX4_INFO("auto save: %s", autosave_instance->enabled() ? "on" : "off");
if (!autosave_disabled && (last_autosave_timestamp > 0)) {
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
hrt_abstime last_autosave = autosave_instance->lastAutosave();
if (last_autosave > 0) {
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave) * 1e-6);
}
}
perf_print_counter(param_export_perf);