dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

dataman: Add client sync perf counter and increase default timeout to 5s

This commit is contained in:
Niklas Hauser 2024-03-07 10:33:36 +01:00 committed by Beat Küng
parent a1cce7e961
commit 23c5c0b12d
2 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/lib/dataman_client/DatamanClient.cpp
View File

@ -39,6 +39,8 @@
DatamanClient::DatamanClient() DatamanClient::DatamanClient()
{ {
_sync_perf = perf_alloc(PC_ELAPSED, "DatamanClient: sync");
_dataman_request_pub.advertise(); _dataman_request_pub.advertise();
_dataman_response_sub = orb_subscribe(ORB_ID(dataman_response)); _dataman_response_sub = orb_subscribe(ORB_ID(dataman_response));
@ -74,6 +76,8 @@ DatamanClient::DatamanClient()
DatamanClient::~DatamanClient() DatamanClient::~DatamanClient()
{ {
perf_free(_sync_perf);
if (_dataman_response_sub >= 0) { if (_dataman_response_sub >= 0) {
orb_unsubscribe(_dataman_response_sub); orb_unsubscribe(_dataman_response_sub);
} }
@ -85,6 +89,7 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon
bool response_received = false; bool response_received = false;
int32_t ret = 0; int32_t ret = 0;
hrt_abstime time_elapsed = hrt_elapsed_time(&start_time); hrt_abstime time_elapsed = hrt_elapsed_time(&start_time);
perf_begin(_sync_perf);
_dataman_request_pub.publish(request); _dataman_request_pub.publish(request);
while (!response_received && (time_elapsed < timeout)) { while (!response_received && (time_elapsed < timeout)) {
@ -132,6 +137,8 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon
time_elapsed = hrt_elapsed_time(&start_time); time_elapsed = hrt_elapsed_time(&start_time);
} }
perf_end(_sync_perf);
if (!response_received && ret >= 0) { if (!response_received && ret >= 0) {
PX4_ERR("timeout after %" PRIu32 " ms!", static_cast<uint32_t>(timeout / 1000)); PX4_ERR("timeout after %" PRIu32 " ms!", static_cast<uint32_t>(timeout / 1000));
} }

10
src/lib/dataman_client/DatamanClient.hpp
View File

@ -62,7 +62,7 @@ public:
* *
* @return true if data was read successfully within the timeout, false otherwise. * @return true if data was read successfully within the timeout, false otherwise.
*/ */
bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms);
/** /**
* @brief Write data to the dataman synchronously. * @brief Write data to the dataman synchronously.
@ -75,7 +75,7 @@ public:
* *
* @return True if the write operation succeeded, false otherwise. * @return True if the write operation succeeded, false otherwise.
*/ */
bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms);
/** /**
* @brief Clears the data in the specified dataman item. * @brief Clears the data in the specified dataman item.
@ -85,7 +85,7 @@ public:
* *
* @return True if the operation was successful, false otherwise. * @return True if the operation was successful, false otherwise.
*/ */
bool clearSync(dm_item_t item, hrt_abstime timeout = 1000_ms); bool clearSync(dm_item_t item, hrt_abstime timeout = 5000_ms);
/** /**
* @brief Initiates an asynchronous request to read the data from dataman for a specific item and index. * @brief Initiates an asynchronous request to read the data from dataman for a specific item and index.
@ -185,6 +185,8 @@ private:
uint8_t _client_id{0}; uint8_t _client_id{0};
perf_counter_t _sync_perf{nullptr};
static constexpr uint8_t CLIENT_ID_NOT_SET{0}; static constexpr uint8_t CLIENT_ID_NOT_SET{0};
}; };
@ -246,7 +248,7 @@ public:
* *
* @return True if the write operation succeeded, false otherwise. * @return True if the write operation succeeded, false otherwise.
*/ */
bool writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); bool writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms);
/** /**
* @brief Updates the dataman cache by checking for responses from the DatamanClient and processing them. * @brief Updates the dataman cache by checking for responses from the DatamanClient and processing them.