Use blocking enqueue calls for radiolink and crtp to avoid packet loss (

#687) * Use blocking enqueue calls for radiolink and crtp to avoid packet loss Part of fixes for issue #681. * Assert in radiolink that we are not dropping pks Co-authored-by: Wolfgang Hoenig <[email protected]> Co-authored-by: Arnaud Taffanel <[email protected]>
bitcraze · Feb 9, 2021 · d3d0044 · d3d0044
1 parent 9e5fce6
commit d3d0044
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/hal/src/radiolink.c b/src/hal/src/radiolink.c
@@ -43,6 +43,7 @@
 #include "ledseq.h"
 #include "queuemonitor.h"
 #include "static_mem.h"
+#include "cfassert.h"
 
 #define RADIOLINK_TX_QUEUE_SIZE (1)
 #define RADIOLINK_CRTP_QUEUE_SIZE (5)
@@ -159,7 +160,8 @@ void radiolinkSyslinkDispatch(SyslinkPacket *slp)
   if (slp->type == SYSLINK_RADIO_RAW)
   {
     slp->length--; // Decrease to get CRTP size.
-    xQueueSend(crtpPacketDelivery, &slp->length, 0);
+    // Assert that we are not dopping any packets
+    ASSERT(xQueueSend(crtpPacketDelivery, &slp->length, 0) == pdPASS);
     ledseqRun(&seq_linkUp);
     // If a radio packet is received, one can be sent
     if (xQueueReceive(txQueue, &txPacket, 0) == pdTRUE)
@@ -170,6 +172,7 @@ void radiolinkSyslinkDispatch(SyslinkPacket *slp)
   } else if (slp->type == SYSLINK_RADIO_RAW_BROADCAST)
   {
     slp->length--; // Decrease to get CRTP size.
+    // broadcasts are best effort, so no need to handle the case where the queue is full
     xQueueSend(crtpPacketDelivery, &slp->length, 0);
     ledseqRun(&seq_linkUp);
     // no ack for broadcasts

diff --git a/src/modules/src/crtp.c b/src/modules/src/crtp.c
@@ -179,11 +179,8 @@ void crtpRxTask(void *param)
       {
         if (queues[p.port])
         {
-          if (xQueueSend(queues[p.port], &p, 0) == errQUEUE_FULL)
-          {
-            // We should never drop packet
-            ASSERT(0);
-          }
+          // Block, since we should never drop a packet
+          xQueueSend(queues[p.port], &p, portMAX_DELAY);
         }
 
         if (callbacks[p.port])