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Code Issues Releases Activity

OP-1212 handle priority queues for setUpdatePeriod and setLoggingPeriod

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This commit is contained in:
Alessio Morale 2014-02-07 18:36:33 +01:00
parent 4a29db4983
commit 7a39d93952
1 changed files with 10 additions and 5 deletions
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15
flight/modules/Telemetry/telemetry.c
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@ -268,6 +268,7 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
eventMask |= EV_LOGGING_MANUAL; eventMask |= EV_LOGGING_MANUAL;
break; break;
} }
// note that all setting objects have implicitly IsPriority=true
if (UAVObjIsPriority(obj)) { if (UAVObjIsPriority(obj)) {
UAVObjConnectQueue(obj, priorityQueue, eventMask); UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else { } else {
@ -375,7 +376,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
*/ */
#if defined(PIOS_TELEM_PRIORITY_QUEUE) #if defined(PIOS_TELEM_PRIORITY_QUEUE)
// Loop forever // Loop forever
while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) { while (xQueueReceive(priorityQueue, &ev, 0) == pdTRUE) {
// Process event // Process event
processObjEvent(&ev); processObjEvent(&ev);
} }
@ -476,9 +477,11 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
ev.instId = UAVOBJ_ALL_INSTANCES; ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_PERIODIC; ev.event = EV_UPDATED_PERIODIC;
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs); xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
if (ret == -1) { if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs); ret = EventPeriodicQueueCreate(&ev, targetQueue, updatePeriodMs);
} }
return ret; return ret;
} }
@ -500,9 +503,11 @@ static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs)
ev.instId = UAVOBJ_ALL_INSTANCES; ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_LOGGING_PERIODIC; ev.event = EV_LOGGING_PERIODIC;
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs); xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
if (ret == -1) { if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs); ret = EventPeriodicQueueCreate(&ev, targetQueue, updatePeriodMs);
} }
return ret; return ret;
} }