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Logger: only write subscribed topic format definitions

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Previously the formats of all known uorb messages were written.

- reduces header size by about 13KB
- reduce ulog_message_format_s size to reduce required stack size.
  Largest message format is about 1000 bytes.
This commit is contained in:
Beat Küng
2018-10-09 06:21:10 +02:00
parent 0745ba9052
commit b86c7d2e8f
3 changed files with 106 additions and 13 deletions
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13
src/modules/logger/logger.h
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@@ -34,6 +34,7 @@
#pragma once
#include "log_writer.h"
#include "messages.h"
#include "array.h"
#include "util.h"
#include <px4_defines.h>
@@ -162,6 +163,10 @@ private:
Watchdog
};
static constexpr size_t MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static constexpr const char *LOG_ROOT = PX4_STORAGEDIR "/log";
/**
* Write an ADD_LOGGED_MSG to the log for a all current subscriptions and instances
*/
@@ -207,6 +212,10 @@ private:
*/
void write_header();
/// Array to store written formats (add some more for nested definitions)
using WrittenFormats = Array < const orb_metadata *, MAX_TOPICS_NUM + 10 >;
void write_format(const orb_metadata &meta, WrittenFormats &written_formats, ulog_message_format_s &msg, int level = 1);
void write_formats();
/**
@@ -296,10 +305,6 @@ private:
void write_load_output();
static constexpr size_t MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static constexpr const char *LOG_ROOT = PX4_STORAGEDIR "/log";
uint8_t *_msg_buffer{nullptr};
int _msg_buffer_len{0};
char _log_dir[LOG_DIR_LEN] {};