From 2d9637c156bb186660fe623bfd98c7fce8290ce8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 23 Jul 2014 12:19:29 +1000
Subject: [PATCH] AP_Terrain: re-arrange disk IO code

add some comments explaining split between IO thread and main code
---
 libraries/AP_Terrain/AP_Terrain.cpp | 49 +++++++++++++++++------------
 libraries/AP_Terrain/AP_Terrain.h   |  5 +++
 2 files changed, 34 insertions(+), 20 deletions(-)

diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index 50d2a7718a..c67ba1ee5a 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -304,7 +304,7 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
     }
 
     // see if we need to schedule some disk IO
-    update();
+    schedule_disk_io();
 
     // did we request recently?
     if (hal.scheduler->millis() - last_request_time_ms < 2000) {
@@ -547,10 +547,9 @@ void AP_Terrain::check_disk_write(void)
 }
 
 /*
-  update terrain data. Check if we need to do disk IO for grids. This
-  should be called at around 1Hz
+  Check if we need to do disk IO for grids. 
  */
-void AP_Terrain::update(void)
+void AP_Terrain::schedule_disk_io(void)
 {
     if (enable == 0) {
         return;
@@ -604,24 +603,18 @@ void AP_Terrain::update(void)
         // waiting for io_timer()
         break;
     }
-    
-    Location loc;
-    if (!ahrs.get_position(loc)) {
-        // we don't know where we are
-        return;
-    }
-
-#if TERRAIN_DEBUG
-    static uint32_t last_report_ms;
-    float height;
-    
-    if (hal.scheduler->millis() - last_report_ms > 1000 && height_amsl(loc, height)) {
-        printf("height %.2f\n", height);
-        last_report_ms = hal.scheduler->millis();
-    }
-#endif
 }
 
+/*
+  1Hz update function. This is here to ensure progress is made on disk
+  IO even if no MAVLink send_request() operations are called for a
+  while.
+ */
+void AP_Terrain::update(void)
+{
+    // just schedule any needed disk IO
+    schedule_disk_io();
+}
 
 /*
   get CRC for a block
@@ -635,6 +628,22 @@ uint16_t AP_Terrain::get_block_crc(struct grid_block &block)
     return ret;
 }
 
+
+/********************************************************
+All the functions below this point run in the IO timer
+context, which is a separate thread. The code uses the state
+machine controlled by disk_io_state to manage who has 
+access to the structures and to prevent race conditions.
+
+The IO timer context owns the data when disk_io_state is 
+DiskIoWaitWrite or DiskIoWaitRead. The main thread owns the
+data when disk_io_state is DiskIoIdle, DiskIoDoneWrite or
+DiskIoDoneRead
+
+All file operations are done by the IO thread.
+*********************************************************/
+
+
 /*
   open the current degree file
  */
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index 402822ca7c..e0f822c254 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -212,6 +212,11 @@ private:
     bool request_missing(mavlink_channel_t chan, struct grid_cache &gcache);
     bool request_missing(mavlink_channel_t chan, const struct grid_info &info);
 
+    /*
+      look for blocks that need to be read/written to disk
+     */
+    void schedule_disk_io(void);
+
     /*
       get some statistics for TERRAIN_REPORT
      */