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param: implement rate-limited autosave 

- add a saving delay of 300ms
- save at most once every 2 seconds
This commit is contained in:
Beat Küng 2017-03-24 16:59:51 +01:00 committed by Lorenz Meier
parent 7c43689ddc
commit a5cdff06d5
7 changed files with 194 additions and 62 deletions
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4
msg/parameter_update.msg
View File

@ -1 +1,3 @@
bool saved # wether the change has already been saved to disk
# This message is used to notify the system about one or more parameter changes
uint32 dummy # unused

2
src/modules/systemlib/flashparams/flashparams.c
View File

@ -281,7 +281,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
goto out;
}
if (param_set_external(param, v, state->mark_saved, true, false)) {
if (param_set_external(param, v, state->mark_saved, true)) {
debug("error setting value for '%s'", node->name);
goto out;

2
src/modules/systemlib/flashparams/flashparams.h
View File

@ -61,7 +61,7 @@ __BEGIN_DECLS
#define FLASH_PARAMS_EXPOSE __EXPORT
__EXPORT extern UT_array *param_values;
__EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
__EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes);
__EXPORT const void *param_get_value_ptr_external(param_t param);
/* The interface hooks to the Flash based storage. The caller is responsible for locking */

117
src/modules/systemlib/param/param.c
View File

@ -45,7 +45,6 @@
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_config.h>
#include <px4_spi.h>
#include <string.h>
#include <stdbool.h>
#include <float.h>
@ -94,6 +93,13 @@
#define PARAM_CLOSE close
#endif
#include <px4_workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
struct work_s autosave_work;
static bool autosave_scheduled = false;
static bool autosave_disabled = false;
/**
* Array of static parameter info.
*/
@ -283,12 +289,12 @@ param_find_changed(param_t param)
}
static void
_param_notify_changes(bool is_saved)
_param_notify_changes(void)
{
#if !defined(PARAM_NO_ORB)
struct parameter_update_s pup = {
.timestamp = hrt_absolute_time(),
.saved = is_saved
.dummy = 0
};
/*
@ -308,7 +314,7 @@ _param_notify_changes(bool is_saved)
void
param_notify_changes(void)
{
_param_notify_changes(false);
_param_notify_changes();
}
param_t
@ -579,8 +585,62 @@ param_get(param_t param, void *val)
return result;
}
/**
* worker callback method to save the parameters
* @param arg unused
*/
static void autosave_worker(void *arg)
{
bool disabled = false;
param_lock_writer();
last_autosave_timestamp = hrt_absolute_time();
autosave_scheduled = false;
disabled = autosave_disabled;
param_unlock_writer();
if (disabled) {
return;
}
PX4_DEBUG("Autosaving params");
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param 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(void)
{
if (autosave_scheduled || autosave_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 * 1000;
const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
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 = true;
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, NULL, USEC2TICK(delay));
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
int result = -1;
bool params_changed = false;
@ -651,6 +711,10 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
s->unsaved = !mark_saved;
result = 0;
if (!mark_saved) { // this is false when importing parameters
param_autosave();
}
}
out:
@ -661,16 +725,16 @@ out:
* a thing has been set.
*/
if (params_changed && notify_changes) {
_param_notify_changes(is_saved);
_param_notify_changes();
}
return result;
}
#if defined(FLASH_BASED_PARAMS)
int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
return param_set_internal(param, val, mark_saved, notify_changes, is_saved);
return param_set_internal(param, val, mark_saved, notify_changes);
}
const void *param_get_value_ptr_external(param_t param)
@ -682,19 +746,13 @@ const void *param_get_value_ptr_external(param_t param)
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, false);
}
int
param_set_no_autosave(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, true);
return param_set_internal(param, val, false, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false, false);
return param_set_internal(param, val, false, false);
}
bool
@ -745,17 +803,18 @@ param_reset(param_t param)
param_found = true;
}
param_autosave();
param_unlock_writer();
if (s != NULL) {
_param_notify_changes(false);
_param_notify_changes();
}
return (!param_found);
}
void
param_reset_all(void)
static void
param_reset_all_internal(bool auto_save)
{
param_lock_writer();
@ -766,9 +825,19 @@ param_reset_all(void)
/* mark as reset / deleted */
param_values = NULL;
if (auto_save) {
param_autosave();
}
param_unlock_writer();
_param_notify_changes(false);
_param_notify_changes();
}
void
param_reset_all(void)
{
param_reset_all_internal(true);
}
void
@ -796,7 +865,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
}
}
_param_notify_changes(false);
_param_notify_changes();
}
static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
@ -1132,7 +1201,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
goto out;
}
if (param_set_internal(param, v, state->mark_saved, true, false)) {
if (param_set_internal(param, v, state->mark_saved, true)) {
debug("error setting value for '%s'", node->name);
goto out;
}
@ -1205,7 +1274,7 @@ param_import(int fd)
int
param_load(int fd)
{
param_reset_all();
param_reset_all_internal(false);
return param_import_internal(fd, true);
}

10
src/modules/systemlib/param/param.h
View File

@ -248,16 +248,6 @@ __EXPORT int param_get(param_t param, void *val);
*/
__EXPORT int param_set(param_t param, const void *val);
/**
* Set the value of a parameter, but do not trigger an auto-save
*
* @param param A handle returned by param_find or passed by param_foreach.
* @param val The value to set; assumed to point to a variable of the parameter type.
* For structures, the pointer is assumed to point to a structure to be copied.
* @return Zero if the parameter's value could be set from a scalar, nonzero otherwise.
*/
__EXPORT int param_set_no_autosave(param_t param, const void *val);
/**
* Set the value of a parameter, but do not notify the system about the change.
*

117
src/modules/systemlib/param/param_shmem.c
View File

@ -79,6 +79,13 @@
#endif
#define PARAM_CLOSE close
#include <px4_workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
struct work_s autosave_work;
static bool autosave_scheduled = false;
static bool autosave_disabled = false;
/**
* Array of static parameter info.
*/
@ -125,7 +132,7 @@ extern void update_to_shmem(param_t param, union param_value_u value);
extern int update_from_shmem(param_t param, union param_value_u *value);
extern void update_index_from_shmem(void);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
unsigned char set_called_from_get = 0;
static int param_import_done =
@ -259,9 +266,9 @@ param_find_changed(param_t param)
}
static void
_param_notify_changes(bool is_saved)
_param_notify_changes(void)
{
struct parameter_update_s pup = { .timestamp = hrt_absolute_time(), .saved = is_saved };
struct parameter_update_s pup = { .timestamp = hrt_absolute_time(), .dummy = 0 };
/*
* If we don't have a handle to our topic, create one now; otherwise
@ -278,7 +285,7 @@ _param_notify_changes(bool is_saved)
void
param_notify_changes(void)
{
_param_notify_changes(true);
_param_notify_changes();
}
@ -545,7 +552,7 @@ param_get(param_t param, void *val)
if (update_from_shmem(param, &value)) {
set_called_from_get = 1;
param_set_internal(param, &value, true, false, false);
param_set_internal(param, &value, true, false);
set_called_from_get = 0;
}
@ -578,8 +585,63 @@ param_get(param_t param, void *val)
return result;
}
/**
* worker callback method to save the parameters
* @param arg unused
*/
static void autosave_worker(void *arg)
{
bool disabled = false;
param_lock();
last_autosave_timestamp = hrt_absolute_time();
autosave_scheduled = false;
disabled = autosave_disabled;
param_unlock();
if (disabled) {
return;
}
PX4_DEBUG("Autosaving params");
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param 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(void)
{
if (autosave_scheduled || autosave_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 * 1000;
const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
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 = true;
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, NULL, USEC2TICK(delay));
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
int result = -1;
bool params_changed = false;
@ -656,6 +718,10 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
s->unsaved = !mark_saved;
params_changed = true;
result = 0;
if (!mark_saved) { // this is false when importing parameters
param_autosave();
}
}
out:
@ -669,7 +735,7 @@ out:
if (!param_import_done) { notify_changes = 0; }
if (params_changed && notify_changes) {
_param_notify_changes(is_saved);
_param_notify_changes();
}
if (result == 0 && !set_called_from_get) {
@ -698,19 +764,13 @@ out:
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, false);
}
int
param_set_no_autosave(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, true);
return param_set_internal(param, val, false, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false, false);
return param_set_internal(param, val, false, false);
}
bool
@ -763,17 +823,18 @@ param_reset(param_t param)
param_found = true;
}
param_autosave();
param_unlock();
if (s != NULL) {
_param_notify_changes(false);
_param_notify_changes();
}
return (!param_found);
}
void
param_reset_all(void)
static void
param_reset_all_internal(bool auto_save)
{
param_lock();
@ -784,9 +845,19 @@ param_reset_all(void)
/* mark as reset / deleted */
param_values = NULL;
if (auto_save) {
param_autosave();
}
param_unlock();
_param_notify_changes(false);
_param_notify_changes();
}
void
param_reset_all(void)
{
param_reset_all_internal(true);
}
void
@ -814,7 +885,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
}
}
_param_notify_changes(false);
_param_notify_changes();
}
#ifdef __PX4_QURT
@ -1145,7 +1216,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
goto out;
}
if (param_set_internal(param, v, state->mark_saved, true, false)) {
if (param_set_internal(param, v, state->mark_saved, true)) {
PX4_DEBUG("error setting value for '%s'", node->name);
goto out;
}
@ -1204,7 +1275,7 @@ param_import(int fd)
int
param_load(int fd)
{
param_reset_all();
param_reset_all_internal(false);
return param_import_internal(fd, true);
}

4
src/systemcmds/param/param.c
View File

@ -531,7 +531,7 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
PARAM_PRINT("curr: %ld", (long)i);
param_set_no_autosave(param, &newval);
param_set(param, &newval);
PARAM_PRINT(" -> new: %ld\n", (long)newval);
}
}
@ -553,7 +553,7 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
PARAM_PRINT("curr: %4.4f", (double)f);
param_set_no_autosave(param, &newval);
param_set(param, &newval);
PARAM_PRINT(" -> new: %4.4f\n", (double)newval);
}