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px4-firmware
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Use a persistent file* and seek less for log download 

Opening/seeking/closing the file for each data chunk was extremely
expensive and drastically slowed the download process as the position
in the file increased. Over USB with large files this change + nuttx
update results in ~ 10x speedup for log downloads.
This commit is contained in:
Nate Weibley 2016-08-03 14:06:40 -04:00
parent 391eb7f8df
commit 547592fddf
2 changed files with 35 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
src/modules/mavlink/mavlink_log_handler.cpp
View File

@ -207,11 +207,15 @@ MavlinkLogHandler::_log_request_data(const mavlink_message_t *msg)
}
//-- If we were sending log entries, stop it
_pLogHandlerHelper->current_status = LogListHelper::LOG_HANDLER_IDLE;
//-- Init send log dataset
_pLogHandlerHelper->current_log_filename[0] = 0;
_pLogHandlerHelper->current_log_index = request.id;
uint32_t time_utc = 0;
_pLogHandlerHelper->get_entry(_pLogHandlerHelper->current_log_index, _pLogHandlerHelper->current_log_size, time_utc, _pLogHandlerHelper->current_log_filename);
if (_pLogHandlerHelper->current_log_index != request.id) {
//-- Init send log dataset
_pLogHandlerHelper->current_log_filename[0] = 0;
_pLogHandlerHelper->current_log_index = request.id;
uint32_t time_utc = 0;
_pLogHandlerHelper->get_entry(_pLogHandlerHelper->current_log_index, _pLogHandlerHelper->current_log_size, time_utc, _pLogHandlerHelper->current_log_filename);
_pLogHandlerHelper->open_for_transmit();
}
_pLogHandlerHelper->current_log_data_offset = request.ofs;
if (_pLogHandlerHelper->current_log_data_offset >= _pLogHandlerHelper->current_log_size) {
_pLogHandlerHelper->current_log_data_remaining = 0;
@ -331,10 +335,11 @@ LogListHelper::LogListHelper()
, last_entry(0)
, log_count(0)
, current_status(LOG_HANDLER_IDLE)
, current_log_index(0)
, current_log_index(UINT16_MAX)
, current_log_size(0)
, current_log_data_offset(0)
, current_log_data_remaining(0)
, current_log_filep(0)
{
_init();
}
@ -379,24 +384,39 @@ LogListHelper::get_entry(int idx, uint32_t& size, uint32_t& date, char* filename
return result;
}
//-------------------------------------------------------------------
bool
LogListHelper::open_for_transmit()
{
if (current_log_filep) {
::fclose(current_log_filep);
current_log_filep = 0;
}
current_log_filep = ::fopen(current_log_filename, "rb");
if (!current_log_filep) {
PX4LOG_WARN("MavlinkLogHandler::open_for_transmit Could not open %s\n", current_log_filename);
return false;
}
return true;
}
//-------------------------------------------------------------------
size_t
LogListHelper::get_log_data(uint8_t len, uint8_t* buffer)
{
if(!current_log_filename[0])
return 0;
FILE* f = fopen(current_log_filename, "r");
if (!f) {
PX4LOG_WARN("MavlinkLogHandler::get_log_data Could not open %s\n", current_log_filename);
if (!current_log_filep) {
PX4LOG_WARN("MavlinkLogHandler::get_log_data file not open %s\n", current_log_filename);
return 0;
}
if(fseek(f, current_log_data_offset, SEEK_SET)) {
fclose(f);
long int offset = current_log_data_offset - ftell(current_log_filep);
if(offset && fseek(current_log_filep, offset, SEEK_CUR)) {
fclose(current_log_filep);
PX4LOG_WARN("MavlinkLogHandler::get_log_data Seek error in %s\n", current_log_filename);
return 0;
}
size_t result = fread(buffer, 1, len, f);
fclose(f);
size_t result = fread(buffer, 1, len, current_log_filep);
return result;
}

2
src/modules/mavlink/mavlink_log_handler.h
View File

@ -58,6 +58,7 @@ public:
public:
bool get_entry (int idx, uint32_t& size, uint32_t& date, char* filename = 0);
bool open_for_transmit();
size_t get_log_data (uint8_t len, uint8_t* buffer);
enum {
@ -75,6 +76,7 @@ public:
uint32_t current_log_size;
uint32_t current_log_data_offset;
uint32_t current_log_data_remaining;
FILE* current_log_filep;
char current_log_filename[128];
private: