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logger: check for newly published topics while not logging

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If logger is started very early, orb_exists() will fail for a lot of
topics, they will be advertised within the next few seconds.
Logger already dynamically adds subscriptions during logging, but if we
do that before as well, we'll avoid any delays and having to subscribe
to a lot of topics all at once.
This commit is contained in:
Beat Küng
2017-10-16 14:54:37 +02:00
committed by Lorenz Meier
parent 3be252289a
commit deaf125c81
1 changed files with 22 additions and 2 deletions
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24
src/modules/logger/logger.cpp
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@@ -971,9 +971,10 @@ void Logger::run()
}
if (_writer.is_started()) {
hrt_abstime loop_time = hrt_absolute_time();
const hrt_abstime loop_time = hrt_absolute_time();
if (_writer.is_started()) {
/* check if we need to output the process load */
if (_next_load_print != 0 && loop_time >= _next_load_print) {
@@ -1108,6 +1109,25 @@ void Logger::run()
#endif /* DBGPRINT */
} else { // not logging
// try to subscribe to new topics, even if we don't log, so that:
// - we avoid subscribing to many topics at once, when logging starts
// - we'll get the data immediately once we start logging (no need to wait for the next subscribe timeout)
if (next_subscribe_topic_index != -1) {
for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
if (_subscriptions[next_subscribe_topic_index].fd[instance] < 0) {
try_to_subscribe_topic(_subscriptions[next_subscribe_topic_index], instance);
}
}
if (++next_subscribe_topic_index >= _subscriptions.size()) {
next_subscribe_topic_index = -1;
next_subscribe_check = loop_time + TRY_SUBSCRIBE_INTERVAL;
}
} else if (loop_time > next_subscribe_check) {
next_subscribe_topic_index = 0;
}
}
// wait for next loop iteration...