uORB::Publication improvements and cleanup #14784

dagar · 2020-04-29T00:43:02Z

common PublicationBase
PublicationQueued types are now type aliases
ORB_PRIO use type everywhere
drivers (PX4Accelerometer/PX4Gyroscope/etc) advertise publications in constructor along with driver registration

nsh> listener sensor_accel

TOPIC: sensor_accel 3 instances

Instance 0:
 sensor_accel_s
        timestamp: 387779742  (0.004361 seconds ago)
        timestamp_sample: 387779442
        device_id: 3670026 (Type: 0x38, SPI:1 (0x00)) 
        x: 0.1801
        y: -0.3445
        z: -9.8220
        temperature: 39.7980

Instance 1:
 sensor_accel_s
        timestamp: 387781322  (0.004360 seconds ago)
        timestamp_sample: 387781109
        device_id: 3932170 (Type: 0x3C, SPI:1 (0x00)) 
        x: 0.3177
        y: -0.4816
        z: -9.7533
        temperature: 39.3941

Instance 2:
 sensor_accel_s
        timestamp: 387783231  (0.003559 seconds ago)
        timestamp_sample: 387783205
        device_id: 4259850 (Type: 0x41, SPI:1 (0x00)) 
        x: 0.3552
        y: -0.2759
        z: -9.8567
        temperature: 35.0000


nsh> listener sensor_accel_integrated

TOPIC: sensor_accel_integrated 3 instances

Instance 0:
 sensor_accel_integrated_s
        timestamp: 399876375  (0.003065 seconds ago)
        timestamp_sample: 399875924
        error_count: 0
        device_id: 3670026 (Type: 0x38, SPI:1 (0x00)) 
        delta_velocity: [0.0003, -0.0008, -0.0245]
        dt: 2500
        samples: 10
        clip_counter: [0, 0, 0]

Instance 1:
 sensor_accel_integrated_s
        timestamp: 399878665  (0.002044 seconds ago)
        timestamp_sample: 399878352
        error_count: 0
        device_id: 3932170 (Type: 0x3C, SPI:1 (0x00)) 
        delta_velocity: [0.0007, -0.0010, -0.0244]
        dt: 2500
        samples: 10
        clip_counter: [0, 0, 0]

Instance 2:
 sensor_accel_integrated_s
        timestamp: 399882702  (0.000389 seconds ago)
        timestamp_sample: 399882671
        error_count: 0
        device_id: 4259850 (Type: 0x41, SPI:1 (0x00)) 
        delta_velocity: [0.0007, -0.0009, -0.0245]
        dt: 2509
        samples: 2
        clip_counter: [0, 0, 0]



nsh> listener sensor_accel_status

TOPIC: sensor_accel_status 3 instances

Instance 0:
 sensor_accel_status_s
        timestamp: 409639646  (0.100235 seconds ago)
        error_count: 0
        device_id: 3670026 (Type: 0x38, SPI:1 (0x00)) 
        temperature: 39.7980
        clipping: [0, 0, 0]
        full_scale_range: 156.9064
        vibration_metric: 0.0001
        measure_rate_hz: 800
        rotation: 2

Instance 1:
 sensor_accel_status_s
        timestamp: 409643983  (0.097395 seconds ago)
        error_count: 0
        device_id: 3932170 (Type: 0x3C, SPI:1 (0x00)) 
        temperature: 39.3941
        clipping: [0, 0, 0]
        full_scale_range: 156.9064
        vibration_metric: 0.0002
        measure_rate_hz: 800
        rotation: 2

Instance 2:
 sensor_accel_status_s
        timestamp: 409696031  (0.046810 seconds ago)
        error_count: 0
        device_id: 4259850 (Type: 0x41, SPI:1 (0x00)) 
        temperature: 35.0000
        clipping: [0, 0, 0]
        full_scale_range: 156.9064
        vibration_metric: 0.0043
        measure_rate_hz: 1000
        rotation: 10

- common PublicationBase - PublicationQueued types are now type aliases - ORB_PRIO use type everywhere - drivers advertise on construction

bkueng

Is the ORB_PRIO uint8_t -> int change noticeable?

src/modules/sensors/voted_sensors_update.cpp

bkueng · 2020-04-29T07:39:09Z

src/modules/uORB/Publication.hpp

+	{
+		if (_handle != nullptr) {
+			// don't automatically unadvertise queued publications (eg vehicle_command)
+			if (static_cast<DeviceNode *>(_handle)->get_queue_size() == 1) {


We need to double-check if that works as expected. No case specifically comes to mind, ulog_stream_ack might be a candidate.

dagar · 2020-04-29T14:07:52Z

Is the ORB_PRIO uint8_t -> int change noticeable?

Overall we save a small amount with this PR (maybe a few hundred bytes), so it seems uORB::Publication using an ORB_ID class enum (uint8_t) has roughly made up for it.

I didn't necessarily want to use enum ORB_PRIO everywhere, but I was a bit appalled when I saw the error in sf1xx. Longer term we might be able to make it an enum class or quite honestly the entire ORB priority concept might not really make sense to keep in this form.

src/modules/sensors/voted_sensors_update.cpp

dagar · 2020-04-29T14:24:57Z

TODO: manually verify queued publication unadavertise behavior.

…eanup

dagar · 2020-05-01T15:33:26Z

We need to double-check if that works as expected. No case specifically comes to mind, ulog_stream_ack might be a candidate.

I've stepped through this a few times and verified we're unadvertising regular Publications and leaving Queued.

bkueng

Can you test that log streaming still works by restarting it several times?

dagar · 2020-05-04T15:04:44Z

Can you test that log streaming still works by restarting it several times?

Seems to be working.

nsh> logger status
INFO  [logger] Running in mode: all
INFO  [logger] Number of subscriptions: 120 (3840 bytes)
INFO  [logger] Full File Logging Running:
INFO  [logger] Log file: /fs/microsd/log/sess006/log001.ulg
INFO  [logger] Wrote 1.80 MiB (avg 14.51 KiB/s)
INFO  [logger] Since last status: dropouts: 261 (max len: 0.677 s), max used buffer: 13009 / 14336 B


nsh> INFO  [logger] Start mavlink log


nsh>  logger status
INFO  [logger] Running in mode: all
INFO  [logger] Number of subscriptions: 120 (3840 bytes)
INFO  [logger] Full File Logging Running:
INFO  [logger] Log file: /fs/microsd/log/sess006/log001.ulg
INFO  [logger] Wrote 2.70 MiB (avg 14.32 KiB/s)
INFO  [logger] Since last status: dropouts: 1 (max len: 0.517 s), max used buffer: 12723 / 14336 B
INFO  [logger] Mavlink Logging Running (Full log)


nsh> mavlink status

instance #0:
        GCS heartbeat:  269194 us ago
        mavlink chan: #0
        type:           USB CDC
        flow control: OFF
        rates:
          tx: 79.366 kB/s
          txerr: 1.515 kB/s
          tx rate mult: 0.981
          tx rate max: 800000 B/s
          rx: 0.598 kB/s
        ULog rate: 6.7% of max 70.0%
        FTP enabled: YES, TX enabled: YES
        mode: Config
        MAVLink version: 2
        transport protocol: serial (/dev/ttyACM0 @2000000)
        ping statistics:
          last: 6.84 ms
          mean: 7.79 ms
          max: 107.71 ms
          min: 0.27 ms
          dropped packets: 0


nsh> INFO  [logger] Stop mavlink log
nsh> INFO  [logger] Start mavlink log
nsh> logger status
INFO  [logger] Running in mode: all
INFO  [logger] Number of subscriptions: 120 (3840 bytes)
INFO  [logger] Full File Logging Running:
INFO  [logger] Log file: /fs/microsd/log/sess006/log001.ulg
INFO  [logger] Wrote 3.65 MiB (avg 13.85 KiB/s)
INFO  [logger] Since last status: dropouts: 141 (max len: 0.843 s), max used buffer: 0 / 14336 B
INFO  [logger] Mavlink Logging Running (Full log)

nsh> INFO  [logger] Stop mavlink log

nsh> logger status
INFO  [logger] Running in mode: all
INFO  [logger] Number of subscriptions: 120 (3840 bytes)
INFO  [logger] Full File Logging Running:
INFO  [logger] Log file: /fs/microsd/log/sess006/log001.ulg
INFO  [logger] Wrote 3.87 MiB (avg 13.85 KiB/s)
INFO  [logger] Since last status: dropouts: 51 (max len: 0.704 s), max used buffer: 0 / 14336 B

nsh> INFO  [logger] Start mavlink log
nsh> INFO  [logger] Stop mavlink log

https://review.px4.io/plot_app?log=512007ef-4fee-4cd9-8594-d449cccad7f2
https://review.px4.io/plot_app?log=c9799a7d-fe83-475e-95fb-2f8fa78185b1
https://review.px4.io/plot_app?log=469c70b1-8ea4-4d4a-b7b9-857e6338fa62

Side question, is it possible to capture postflight additional data when log streaming is stopped?

bkueng · 2020-05-05T07:29:41Z

Side question, is it possible to capture postflight additional data when log streaming is stopped?

Not easily, as stopping is requested externally.

- create common uORB::PublicationBase - uORB::PublicationQueued types are now type aliases - ORB_PRIO use enum type everywhere to avoid accidental misuse - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.

dagar force-pushed the pr-uorb_publication_cleanup branch from b7556de to 4b6e8ad Compare April 29, 2020 00:51

dagar mentioned this pull request Apr 29, 2020

accel and gyro calibration refactor and cleanup #14776

Merged

2 tasks

[WIP]: uORB::Publication improvements and cleanup

fcf330f

- common PublicationBase - PublicationQueued types are now type aliases - ORB_PRIO use type everywhere - drivers advertise on construction

dagar force-pushed the pr-uorb_publication_cleanup branch from 4b6e8ad to fcf330f Compare April 29, 2020 01:33

dagar requested a review from bkueng April 29, 2020 01:55

bkueng reviewed Apr 29, 2020

View reviewed changes

dagar commented Apr 29, 2020

View reviewed changes

src/modules/sensors/voted_sensors_update.cpp Outdated Show resolved Hide resolved

Update src/modules/sensors/voted_sensors_update.cpp

171da8a

dagar added bug Admin: Cleanup (housekeeping) 🧹 Drivers 🔧 Sensors, Actuators, etc Admin: Enhancement (improvement) 💡 labels Apr 29, 2020

dagar added this to the Release v1.11.0 milestone Apr 29, 2020

dagar changed the title ~~[WIP]: uORB::Publication improvements and cleanup~~ uORB::Publication improvements and cleanup Apr 29, 2020

dagar marked this pull request as ready for review April 29, 2020 14:24

Merge remote-tracking branch 'px4/master' into pr-uorb_publication_cl…

495b129

…eanup

Merge remote-tracking branch 'px4/master' into pr-uorb_publication_cl…

d90cbaf

…eanup

dagar requested a review from bkueng May 1, 2020 15:33

weekly-digest bot mentioned this pull request May 3, 2020

Weekly Digest (26 April, 2020 - 3 May, 2020) #14814

Closed

bkueng approved these changes May 4, 2020

View reviewed changes

dagar merged commit 466b5db into master May 4, 2020

dagar deleted the pr-uorb_publication_cleanup branch May 4, 2020 15:09

ryanjAA mentioned this pull request May 4, 2020

u-Blox Neo-M9N GPS support #14509

Closed

dagar mentioned this pull request May 5, 2020

Thermal Calibration corrupts accelometers data to show wrong horizon roll #14717

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

uORB::Publication improvements and cleanup #14784

uORB::Publication improvements and cleanup #14784

dagar commented Apr 29, 2020 •

edited

Loading

bkueng left a comment

bkueng Apr 29, 2020

dagar commented Apr 29, 2020

dagar commented Apr 29, 2020

dagar commented May 1, 2020

bkueng left a comment

dagar commented May 4, 2020

bkueng commented May 5, 2020

uORB::Publication improvements and cleanup #14784

uORB::Publication improvements and cleanup #14784

Conversation

dagar commented Apr 29, 2020 • edited Loading

bkueng left a comment

Choose a reason for hiding this comment

bkueng Apr 29, 2020

Choose a reason for hiding this comment

dagar commented Apr 29, 2020

dagar commented Apr 29, 2020

dagar commented May 1, 2020

bkueng left a comment

Choose a reason for hiding this comment

dagar commented May 4, 2020

bkueng commented May 5, 2020

dagar commented Apr 29, 2020 •

edited

Loading