logger use uORB::PublicationQueued for ulog_stream

- queue depth is now set by the msg

msg/ulog_stream.msg

@@ -15,3 +15,5 @@ uint8 first_message_offset	# offset into data where first message starts. This
 uint16 sequence		# allows determine drops
 uint8 flags			# see FLAGS_*
 uint8[249] data		# ulog data
+
+uint8 ORB_QUEUE_LENGTH = 14	# TODO: we might be able to reduce this if mavlink polled on the topic

src/modules/logger/log_writer.cpp

@@ -38,7 +38,7 @@ namespace px4
 namespace logger
 {
 
-LogWriter::LogWriter(Backend configured_backend, size_t file_buffer_size, unsigned int queue_size)
+LogWriter::LogWriter(Backend configured_backend, size_t file_buffer_size)
 	: _backend(configured_backend)
 {
 	if (configured_backend & BackendFile) {
@@ -50,7 +50,7 @@ LogWriter::LogWriter(Backend configured_backend, size_t file_buffer_size, unsign
 	}
 
 	if (configured_backend & BackendMavlink) {
-		_log_writer_mavlink_for_write = _log_writer_mavlink = new LogWriterMavlink(queue_size);
+		_log_writer_mavlink_for_write = _log_writer_mavlink = new LogWriterMavlink();
 
 		if (!_log_writer_mavlink) {
 			PX4_ERR("LogWriterMavlink allocation failed");

src/modules/logger/log_writer.h

@@ -55,7 +55,7 @@ public:
 	static constexpr Backend BackendMavlink = 1 << 1;
 	static constexpr Backend BackendAll = BackendFile | BackendMavlink;
 
-	LogWriter(Backend configured_backend, size_t file_buffer_size, unsigned int queue_size);
+	LogWriter(Backend configured_backend, size_t file_buffer_size);
 	~LogWriter();
 
 	bool init();

src/modules/logger/log_writer_mavlink.cpp

@@ -45,9 +45,7 @@ namespace px4
 namespace logger
 {
 
-
+LogWriterMavlink::LogWriterMavlink()
-LogWriterMavlink::LogWriterMavlink(unsigned int queue_size) :
-	_queue_size(queue_size)
 {
 	_ulog_stream_data.length = 0;
 }
@@ -62,21 +60,10 @@ LogWriterMavlink::~LogWriterMavlink()
 	if (_ulog_stream_ack_sub >= 0) {
 		orb_unsubscribe(_ulog_stream_ack_sub);
 	}
-
-	if (_ulog_stream_pub) {
-		orb_unadvertise(_ulog_stream_pub);
-	}
 }
 
 void LogWriterMavlink::start_log()
 {
-	if (_ulog_stream_pub == nullptr) {
-		memset(&_ulog_stream_data, 0, sizeof(_ulog_stream_data));
-		// advertise before we subscribe: this is a trick to reduce the number of needed file descriptors
-		// (the advertise temporarily opens a file descriptor)
-		_ulog_stream_pub = orb_advertise_queue(ORB_ID(ulog_stream), &_ulog_stream_data, _queue_size);
-	}
-
 	if (_ulog_stream_ack_sub == -1) {
 		_ulog_stream_ack_sub = orb_subscribe(ORB_ID(ulog_stream_ack));
 	}
@@ -84,9 +71,11 @@ void LogWriterMavlink::start_log()
 	// make sure we don't get any stale ack's by doing an orb_copy
 	ulog_stream_ack_s ack;
 	orb_copy(ORB_ID(ulog_stream_ack), _ulog_stream_ack_sub, &ack);
+
 	_ulog_stream_data.sequence = 0;
 	_ulog_stream_data.length = 0;
 	_ulog_stream_data.first_message_offset = 0;
+
 	_is_started = true;
 }
 
@@ -147,12 +136,7 @@ int LogWriterMavlink::publish_message()
 		_ulog_stream_data.flags = _ulog_stream_data.FLAGS_NEED_ACK;
 	}
 
-	if (_ulog_stream_pub == nullptr) {
+	_ulog_stream_pub.publish(_ulog_stream_data);
-		_ulog_stream_pub = orb_advertise_queue(ORB_ID(ulog_stream), &_ulog_stream_data, _queue_size);
-
-	} else {
-		orb_publish(ORB_ID(ulog_stream), _ulog_stream_pub, &_ulog_stream_data);
-	}
 
 	if (_need_reliable_transfer) {
 		// we need to wait for an ack. Note that this blocks the main logger thread, so if a file logging

src/modules/logger/log_writer_mavlink.h

@@ -34,6 +34,7 @@
 #pragma once
 
 #include <stdint.h>
+#include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/ulog_stream.h>
 #include <uORB/topics/ulog_stream_ack.h>
 
@@ -49,7 +50,7 @@ namespace logger
 class LogWriterMavlink
 {
 public:
-	LogWriterMavlink(unsigned int queue_size);
+	LogWriterMavlink();
 	~LogWriterMavlink();
 
 	bool init();
@@ -75,12 +76,11 @@ private:
 	/** publish message, wait for ack if needed & reset message */
 	int publish_message();
 
-	ulog_stream_s _ulog_stream_data;
+	ulog_stream_s _ulog_stream_data{};
-	orb_advert_t _ulog_stream_pub = nullptr;
+	uORB::PublicationQueued<ulog_stream_s> _ulog_stream_pub{ORB_ID(ulog_stream)};
-	int _ulog_stream_ack_sub = -1;
+	int _ulog_stream_ack_sub{-1};
-	bool _need_reliable_transfer = false;
+	bool _need_reliable_transfer{false};
-	bool _is_started = false;
+	bool _is_started{false};
-	const unsigned int _queue_size;
 };
 
 }

src/modules/logger/logger.cpp

@@ -239,8 +239,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
 	Logger::LogMode log_mode = Logger::LogMode::while_armed;
 	bool error_flag = false;
 	bool log_name_timestamp = false;
-	unsigned int queue_size = 14; //TODO: we might be able to reduce this if mavlink polled on the topic and/or
-	// topic sizes get reduced
 	LogWriter::Backend backend = LogWriter::BackendAll;
 	const char *poll_topic = nullptr;
 
@@ -248,7 +246,7 @@ Logger *Logger::instantiate(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "r:b:etfm:q:p:x", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "r:b:etfm:p:x", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'r': {
 				unsigned long r = strtoul(myoptarg, nullptr, 10);
@@ -310,15 +308,6 @@ Logger *Logger::instantiate(int argc, char *argv[])
 			poll_topic = myoptarg;
 			break;
 
-		case 'q':
-			queue_size = strtoul(myoptarg, nullptr, 10);
-
-			if (queue_size == 0) {
-				queue_size = 1;
-			}
-
-			break;
-
 		case '?':
 			error_flag = true;
 			break;
@@ -343,8 +332,7 @@ Logger *Logger::instantiate(int argc, char *argv[])
 		return nullptr;
 	}
 
-	Logger *logger = new Logger(backend, log_buffer_size, log_interval, poll_topic, log_mode, log_name_timestamp,
+	Logger *logger = new Logger(backend, log_buffer_size, log_interval, poll_topic, log_mode, log_name_timestamp);
-				    queue_size);
 
 #if defined(DBGPRINT) && defined(__PX4_NUTTX)
 	struct mallinfo alloc_info = mallinfo();
@@ -373,10 +361,10 @@ Logger *Logger::instantiate(int argc, char *argv[])
 
 
 Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
-	       LogMode log_mode, bool log_name_timestamp, unsigned int queue_size) :
+	       LogMode log_mode, bool log_name_timestamp) :
 	_log_mode(log_mode),
 	_log_name_timestamp(log_name_timestamp),
-	_writer(backend, buffer_size, queue_size),
+	_writer(backend, buffer_size),
 	_log_interval(log_interval)
 {
 	_log_utc_offset = param_find("SDLOG_UTC_OFFSET");
@@ -2355,7 +2343,6 @@ $ logger on
 	PRINT_MODULE_USAGE_PARAM_FLAG('t', "Use date/time for naming log directories and files", true);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 280, 0, 8000, "Log rate in Hz, 0 means unlimited rate", true);
 	PRINT_MODULE_USAGE_PARAM_INT('b', 12, 4, 10000, "Log buffer size in KiB", true);
-	PRINT_MODULE_USAGE_PARAM_INT('q', 14, 1, 100, "uORB queue size for mavlink mode", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "<topic_name>",
 					 "Poll on a topic instead of running with fixed rate (Log rate and topic intervals are ignored if this is set)", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("on", "start logging now, override arming (logger must be running)");

src/modules/logger/logger.h

@@ -117,7 +117,7 @@ public:
 	};
 
 	Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
-	       LogMode log_mode, bool log_name_timestamp, unsigned int queue_size);
+	       LogMode log_mode, bool log_name_timestamp);
 
 	~Logger();