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Logger: dynamic number of subscriptions

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Keep a fixed-size array of 250 requested topics on the stack, then allocate
an array with LoggerSubscription with the exact required size.
This commit is contained in:
Beat Küng
2019-12-13 16:51:09 +01:00
committed by Daniel Agar
parent 2757647897
commit 738ceab0ee
2 changed files with 115 additions and 58 deletions
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30
src/modules/logger/logger.h
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@@ -144,15 +144,15 @@ public:
* @param instance orb topic instance
* @return true on success
*/
bool add_topic(const char *name, uint32_t interval_ms = 0, uint8_t instance = 0);
bool add_topic_multi(const char *name, uint32_t interval_ms = 0);
bool add_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0);
bool add_topic_multi(const char *name, uint16_t interval_ms = 0);
/**
* add a logged topic (called by add_topic() above).
* In addition, it subscribes to the first instance of the topic, if it's advertised,
* @return the newly added subscription on success, nullptr otherwise
* @return true on success
*/
LoggerSubscription *add_topic(const orb_metadata *topic, uint32_t interval_ms = 0, uint8_t instance = 0);
bool add_topic(const orb_metadata *topic, uint16_t interval_ms = 0, uint8_t instance = 0);
/**
* request the logger thread to stop (this method does not block).
@@ -172,7 +172,7 @@ private:
Watchdog
};
static constexpr size_t MAX_TOPICS_NUM = 90; /**< Maximum number of logged topics */
static constexpr int MAX_TOPICS_NUM = 250; /**< Maximum number of logged topics */
static constexpr int MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static constexpr const char *LOG_ROOT[(int)LogType::Count] = {
@@ -200,6 +200,16 @@ private:
unsigned next_write_time{0}; ///< next time to write in 0.1 seconds
};
struct RequestedSubscription {
const orb_metadata *topic;
uint16_t interval_ms;
uint8_t instance;
};
struct RequestedSubscriptionArray {
RequestedSubscription sub[MAX_TOPICS_NUM];
int count;
};
/**
* Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances
*/
@@ -322,6 +332,12 @@ private:
*/
void add_mission_topic(const char *name, uint32_t interval_ms = 0);
/**
* Add topic subscriptions from SD file if it exists, otherwise call initialize_configured_topics()
* @return true on success
*/
bool initialize_topics(MissionLogType mission_log_mode);
/**
* Add topic subscriptions based on the _sdlog_profile_handle parameter
*/
@@ -381,7 +397,9 @@ private:
LogMode _log_mode;
const bool _log_name_timestamp;
Array<LoggerSubscription, MAX_TOPICS_NUM> _subscriptions; ///< all subscriptions for full & mission log (in front)
RequestedSubscriptionArray *_requested_subscriptions{nullptr}; ///< used during initialize_topics(), then translated to _subscriptions
LoggerSubscription *_subscriptions{nullptr}; ///< all subscriptions for full & mission log (in front)
int _num_subscriptions{0};
MissionSubscription _mission_subscriptions[MAX_MISSION_TOPICS_NUM] {}; ///< additional data for mission subscriptions
int _num_mission_subs{0};