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AP_Scripting: mount-djirs2: filter out ignored packets 

Allows using a smaller buffer and simplifying the script logic.
This commit is contained in:
Thomas Watson 2024-10-31 17:01:09 -05:00 committed by Peter Barker
parent afcc722995
commit 1f0dff0178
1 changed files with 9 additions and 20 deletions
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29
libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
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@ -151,7 +151,6 @@ local last_print_ms = uint32_t(0) -- system time that debug output was las
local bytes_read = 0 -- number of bytes read from gimbal local bytes_read = 0 -- number of bytes read from gimbal
local bytes_written = 0 -- number of bytes written to gimbal local bytes_written = 0 -- number of bytes written to gimbal
local bytes_error = 0 -- number of bytes read that could not be parsed local bytes_error = 0 -- number of bytes read that could not be parsed
local msg_ignored = 0 -- number of ignored messages (because frame id does not match)
local write_fails = 0 -- number of times write failed local write_fails = 0 -- number of times write failed
local execute_fails = 0 -- number of times that gimbal was unable to execute the command local execute_fails = 0 -- number of times that gimbal was unable to execute the command
local reply_timeouts = 0 -- number of timeouts waiting for replies local reply_timeouts = 0 -- number of timeouts waiting for replies
@ -344,9 +343,9 @@ function init()
do return end do return end
end end
-- get CAN device -- get CAN device and filter to receive only replies from the gimbal
driver = CAN:get_device(25) driver = CAN:get_device(8) -- buffer up to two replies
if driver then if driver and driver:add_filter(-1, RECEIVE_FRAMEID) then
initialised = true initialised = true
gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started") gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started")
else else
@ -560,18 +559,13 @@ end
-- consume incoming CAN packets -- consume incoming CAN packets
function read_incoming_packets() function read_incoming_packets()
local canframe local canframe
repeat while true do
canframe = driver:read_frame() canframe = driver:read_frame()
if canframe then if not canframe then return end
if uint32_t(canframe:id()) == uint32_t(RECEIVE_FRAMEID) then for i = 0, canframe:dlc()-1 do
for i = 0, canframe:dlc()-1 do parse_byte(canframe:data(i))
parse_byte(canframe:data(i))
end
else
msg_ignored = msg_ignored + 1
end
end end
until not canframe end
end end
-- parse an byte from the gimbal -- parse an byte from the gimbal
@ -742,12 +736,7 @@ function update()
-- report parsing status -- report parsing status
if (DJIR_DEBUG:get() > 0) and ((now_ms - last_print_ms) > 5000) then if (DJIR_DEBUG:get() > 0) and ((now_ms - last_print_ms) > 5000) then
last_print_ms = now_ms last_print_ms = now_ms
gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: r:%u w:%u fail:%u,%u perr:%u to:%u ign:%u", bytes_read, bytes_written, write_fails, execute_fails, bytes_error, reply_timeouts, msg_ignored)) gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: r:%u w:%u fail:%u,%u perr:%u to:%u", bytes_read, bytes_written, write_fails, execute_fails, bytes_error, reply_timeouts))
end
-- do not send any messages until CAN traffic has been seen
if msg_ignored == 0 and bytes_read == 0 then
return update, UPDATE_INTERVAL_MS
end end
-- handle expected reply timeouts -- handle expected reply timeouts