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mavproxy.py: Clean up log_writer exit #1496

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mavproxy.py: Clean up log_writer exit #1496

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c146c8f
mavproxy.py: Clean up log_writer exit
Ryanf55 Dec 16, 2024
7284f43
Add delay to fix hot loop CPU
Ryanf55 Dec 30, 2024
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33 changes: 18 additions & 15 deletions MAVProxy/mavproxy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ def __init__(self):
self.mav_error = 0
self.altitude = 0
self.last_distance_announce = 0.0
self.exit = False
self.stop_event = threading.Event()
self.flightmode = 'MAV'
self.last_mode_announce = 0
self.last_mode_announced = 'MAV'
Expand Down Expand Up @@ -807,7 +807,7 @@ def process_stdin(line):
print("%-15s : %s" % (cmd, help))
return
if cmd == 'exit' and mpstate.settings.requireexit:
mpstate.status.exit = True
mpstate.status.stop_event.set()
return

if cmd not in command_map:
Expand Down Expand Up @@ -936,8 +936,13 @@ def mkdir_p(dir):

def log_writer():
'''log writing thread'''
while not mpstate.status.exit:
mpstate.logfile_raw.write(bytearray(mpstate.logqueue_raw.get()))
while not mpstate.status.stop_event.is_set():
if not mpstate.logqueue_raw.empty():
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We still appear to be looking at the raw queue later in this function - conflict resolution error?

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The event is the exit event. This statement should read

while we are not supposed to exit:
   use the queue for logging operations

Perhaps you missed the not when reading the code? It's the same behavior as before. Run logging if we aren't exiting.

bytes = mpstate.logqueue_raw.get(block=False)
mpstate.logfile_raw.write(bytearray(bytes))
time.sleep(0.001)

# TODO consider wait() the stop event instead
timeout = time.time() + 10
while not mpstate.logqueue_raw.empty() and time.time() < timeout:
mpstate.logfile_raw.write(mpstate.logqueue_raw.get())
Expand Down Expand Up @@ -1009,18 +1014,17 @@ def open_telemetry_logs(logpath_telem, logpath_telem_raw):
stat = os.statvfs(logpath_telem)
if stat.f_bfree*stat.f_bsize < 209715200:
print("ERROR: Not enough free disk space for logfile")
mpstate.status.exit = True
mpstate.status.stop_event.set()
return

# use a separate thread for writing to the logfile to prevent
# delays during disk writes (important as delays can be long if camera
# app is running)
t = threading.Thread(target=log_writer, name='log_writer')
t.daemon = True
t.start()
except Exception as e:
print("ERROR: opening log file for writing: %s" % e)
mpstate.status.exit = True
mpstate.status.stop_event.set()
return


Expand Down Expand Up @@ -1121,7 +1125,7 @@ def main_loop():
set_stream_rates()

while True:
if mpstate is None or mpstate.status.exit:
if mpstate is None or mpstate.status.stop_event.is_set():
return

# enable or disable screensaver:
Expand Down Expand Up @@ -1218,12 +1222,12 @@ def main_loop():

def input_loop():
'''wait for user input'''
while mpstate.status.exit is not True:
while not mpstate.status.stop_event.is_set():
try:
line = mpstate.rl.input()
mpstate.input_queue.put(line)
except (EOFError, IOError):
mpstate.status.exit = True
mpstate.status.stop_event.set()


def run_script(scriptfile):
Expand Down Expand Up @@ -1407,7 +1411,6 @@ def run_startup_scripts():

# global mavproxy state
mpstate = MPState()
mpstate.status.exit = False
mpstate.command_map = command_map
mpstate.continue_mode = opts.continue_mode
# queues for logging
Expand Down Expand Up @@ -1447,11 +1450,11 @@ def run_startup_scripts():

def quit_handler(signum=None, frame=None):
# print('Signal handler called with signal', signum)
if mpstate.status.exit:
if mpstate.status.stop_event.is_set():
print('Clean shutdown impossible, forcing an exit')
sys.exit(0)
else:
mpstate.status.exit = True
mpstate.status.stop_event.set()

# Listen for kill signals to cleanly shutdown modules
fatalsignals = [signal.SIGTERM]
Expand Down Expand Up @@ -1584,7 +1587,7 @@ def quit_handler(signum=None, frame=None):

# use main program for input. This ensures the terminal cleans
# up on exit
while (mpstate.status.exit is not True):
while not mpstate.status.stop_event.is_set():
try:
if opts.daemon or opts.non_interactive:
time.sleep(0.1)
Expand All @@ -1606,7 +1609,7 @@ def quit_handler(signum=None, frame=None):
m.init(mpstate)

else:
mpstate.status.exit = True
mpstate.status.stop_event.set()
sys.exit(1)

if opts.profile:
Expand Down