AP_Logger: entirely remove twin paths for writing FMT messages

ArduPilot · Jul 5, 2024 · b0b62e1 · b0b62e1
1 parent a7d2d9a
commit b0b62e1
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Showing 3 changed files with 12 additions and 33 deletions.
diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
@@ -1292,8 +1292,15 @@ int16_t AP_Logger::find_free_msg_type() const
  * It is assumed that logstruct's char* variables are valid strings of
  * maximum lengths for those fields (given in LogStructure.h e.g. LS_NAME_SIZE)
  */
-bool AP_Logger::fill_log_write_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const
+bool AP_Logger::fill_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const
 {
+    // check the static lists first...
+    const LogStructure *found = structure_for_msg_type(msg_type);
+    if (found != nullptr) {
+        logstruct = *found;
+        return true;
+    }
+
     // find log structure information corresponding to msg_type:
     struct log_write_fmt *f;
     for (f = log_write_fmts; f; f=f->next) {

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
@@ -451,7 +451,7 @@ class AP_Logger
     int16_t find_free_msg_type() const;
 
     // fill LogStructure with information about msg_type
-    bool fill_log_write_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const;
+    bool fill_logstructure(struct LogStructure &logstruct, const uint8_t msg_type) const;
 
     bool _armed;
 

diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -175,7 +175,7 @@ bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
         ls.units,
         ls.multipliers
     };
-    if (!_front.fill_log_write_logstructure(logstruct, msg_type)) {
+    if (!_front.fill_logstructure(logstruct, msg_type)) {
         // this is a bug; we've been asked to write out the FMT
         // message for a msg_type, but the frontend can't supply the
         // required information
@@ -195,12 +195,6 @@ bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
 
 bool AP_Logger_Backend::Write(const uint8_t msg_type, va_list arg_list, bool is_critical, bool is_streaming)
 {
-    if (!have_emitted_format_for_type(LogMessages(msg_type))) {
-        if (!Write_Emit_FMT(msg_type)) {
-            return false;
-        }
-    }
-
     // stack-allocate a buffer so we can WriteBlock(); this could be
     // 255 bytes!  If we were willing to lose the WriteBlock
     // abstraction we could do WriteBytes() here instead?
@@ -408,28 +402,6 @@ void AP_Logger_Backend::validate_WritePrioritisedBlock(const void *pBuffer,
 }
 #endif
 
-bool AP_Logger_Backend::emit_format_for_type(LogMessages a_type)
-{
-    // linearly scan the formats structure to find the format for the type:
-    for (uint8_t i=0; i< num_types(); i++) {
-        const auto &s { structure(i) };
-        if (s == nullptr) {
-            continue;
-        }
-        if (s->msg_type != a_type) {
-            continue;
-        }
-        // found the relevant structure.  Attempt to write it:
-        if (!Write_Format(s)) {
-            return false;
-        }
-        return true;
-    }
-    // didn't find the structure.  That's probably bad...
-    INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-    return false;
-}
-
 bool AP_Logger_Backend::ensure_format_emitted(const void *pBuffer, uint16_t size)
 {
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
@@ -452,11 +424,11 @@ bool AP_Logger_Backend::ensure_format_emitted(const void *pBuffer, uint16_t size
         return true;
     }
     if (!have_emitted_format_for_type(LOG_FORMAT_MSG) &&
-        !emit_format_for_type(LOG_FORMAT_MSG)) {
+        !Write_Emit_FMT(LOG_FORMAT_MSG)) {
         return false;
     }
 
-    return emit_format_for_type(type);
+    return Write_Emit_FMT(type);
 }
 
 bool AP_Logger_Backend::WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical, bool writev_streaming)