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logger: use orb_exists to check if we need to subscribe to the first instance

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To keep track of the configured interval, we store it as negative file
descriptor, until we do the subscription.

This frees up a considerable amount of file descriptors in most use-cases.
This commit is contained in:
Beat Küng
2017-10-16 14:52:02 +02:00
committed by Lorenz Meier
parent 4c4b528842
commit 3be252289a
2 changed files with 92 additions and 44 deletions
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116
src/modules/logger/logger.cpp
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@@ -425,38 +425,48 @@ bool Logger::request_stop_static()
return true;
}
int Logger::add_topic(const orb_metadata *topic)
LoggerSubscription* Logger::add_topic(const orb_metadata *topic)
{
int fd = -1;
LoggerSubscription *subscription = nullptr;
size_t fields_len = strlen(topic->o_fields) + strlen(topic->o_name) + 1; //1 for ':'
if (fields_len > sizeof(ulog_message_format_s::format)) {
PX4_WARN("skip topic %s, format string is too large: %zu (max is %zu)", topic->o_name, fields_len,
sizeof(ulog_message_format_s::format));
return -1;
return nullptr;
}
fd = orb_subscribe(topic);
int fd = -1;
// Only subscribe to the topic now if it's published. If published later on, we'll dynamically
// add the subscription then
if (orb_exists(topic, 0) == 0) {
fd = orb_subscribe(topic);
if (fd < 0) {
PX4_WARN("logger: %s subscribe failed (%i)", topic->o_name, errno);
return -1;
if (fd < 0) {
PX4_WARN("logger: %s subscribe failed (%i)", topic->o_name, errno);
return nullptr;
}
} else {
PX4_DEBUG("Topic %s does not exist. Not subscribing (yet)", topic->o_name);
}
if (!_subscriptions.push_back(LoggerSubscription(fd, topic))) {
if (_subscriptions.push_back(LoggerSubscription(fd, topic))) {
subscription = &_subscriptions[_subscriptions.size() - 1];
} else {
PX4_WARN("logger: failed to add topic. Too many subscriptions");
orb_unsubscribe(fd);
fd = -1;
if (fd >= 0) {
orb_unsubscribe(fd);
}
}
return fd;
return subscription;
}
int Logger::add_topic(const char *name, unsigned interval = 0)
bool Logger::add_topic(const char *name, unsigned interval)
{
const orb_metadata **topics = orb_get_topics();
int fd = -1;
LoggerSubscription *subscription = nullptr;
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(name, topics[i]->o_name) == 0) {
@@ -467,26 +477,35 @@ int Logger::add_topic(const char *name, unsigned interval = 0)
if (_subscriptions[j].metadata == topics[i]) {
PX4_DEBUG("logging topic %s, interval: %i, already added, only setting interval",
topics[i]->o_name, interval);
fd = _subscriptions[j].fd[0];
subscription = &_subscriptions[j];
already_added = true;
break;
}
}
if (!already_added) {
fd = add_topic(topics[i]);
subscription = add_topic(topics[i]);
PX4_DEBUG("logging topic: %s, interval: %i", topics[i]->o_name, interval);
break;
}
}
}
// if we poll on a topic, we don't set the interval and let the polled topic define the maximum interval
if (!_polling_topic_meta && fd >= 0) {
orb_set_interval(fd, interval);
// if we poll on a topic, we don't use the interval and let the polled topic define the maximum interval
if (_polling_topic_meta) {
interval = 0;
}
return fd;
if (subscription) {
if (subscription->fd[0] >= 0) {
orb_set_interval(subscription->fd[0], interval);
} else {
// store the interval: use a value < 0 to know it's not a valid fd
subscription->fd[0] = -interval - 1;
}
}
return subscription;
}
bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance, void *buffer, bool try_to_subscribe)
@@ -496,27 +515,13 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
if (handle < 0 && try_to_subscribe) {
if (OK == orb_exists(sub.metadata, multi_instance)) {
handle = orb_subscribe_multi(sub.metadata, multi_instance);
if (try_to_subscribe_topic(sub, multi_instance)) {
//PX4_INFO("subscribed to instance %d of topic %s", multi_instance, sub.metadata->o_name);
write_add_logged_msg(sub, multi_instance);
/* copy first data */
if (handle >= 0) {
write_add_logged_msg(sub, multi_instance);
/* set to the same interval as the first instance */
unsigned int interval;
if (orb_get_interval(sub.fd[0], &interval) == 0 && interval > 0) {
orb_set_interval(handle, interval);
}
/* It can happen that orb_exists returns true, even if there is no publisher (but another subscriber).
* We catch this here, because orb_copy will fail in this case. */
if (orb_copy(sub.metadata, handle, buffer) == PX4_OK) {
updated = true;
}
if (orb_copy(sub.metadata, handle, buffer) == PX4_OK) {
updated = true;
}
}
@@ -531,6 +536,39 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
return updated;
}
bool Logger::try_to_subscribe_topic(LoggerSubscription &sub, int multi_instance)
{
bool ret = false;
if (OK == orb_exists(sub.metadata, multi_instance)) {
unsigned int interval;
if (multi_instance == 0) {
// the first instance and no subscription yet: this means we stored the negative interval as fd
interval = (unsigned int) (-(sub.fd[0] + 1));
} else {
// set to the same interval as the first instance
if (orb_get_interval(sub.fd[0], &interval) != 0) {
interval = 0;
}
}
int &handle = sub.fd[multi_instance];
handle = orb_subscribe_multi(sub.metadata, multi_instance);
if (handle >= 0) {
PX4_DEBUG("subscribed to instance %d of topic %s", multi_instance, sub.metadata->o_name);
if (interval > 0) {
orb_set_interval(handle, interval);
}
ret = true;
} else {
PX4_ERR("orb_subscribe_multi %s failed (%i)", sub.metadata->o_name, errno);
}
}
return ret;
}
void Logger::add_default_topics()
{
#ifdef CONFIG_ARCH_BOARD_SITL
@@ -674,7 +712,7 @@ int Logger::add_topics_from_file(const char *fname)
}
/* add topic with specified interval */
if (add_topic(topic_name, interval) >= 0) {
if (add_topic(topic_name, interval)) {
ntopics++;
} else {
@@ -1112,7 +1150,7 @@ void Logger::run()
//unsubscribe
for (LoggerSubscription &sub : _subscriptions) {
for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
if (sub.fd[instance] != -1) {
if (sub.fd[instance] >= 0) {
orb_unsubscribe(sub.fd[instance]);
sub.fd[instance] = -1;
}