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HAL_SITL: implement CAN get_statistics()

This commit is contained in:
Andrew Tridgell 2022-12-07 13:35:59 +11:00
parent bfff5548ef
commit 21b4a19c6f
2 changed files with 14 additions and 10 deletions
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6
libraries/AP_HAL_SITL/CANSocketIface.cpp
View File

@ -322,7 +322,7 @@ void CANIface::_pollWrite()
stats.tx_full++;
break; // Leaving the loop, the frame remains enqueued for the next retry
} else { // Transmission error
stats.tx_write_fail++;
stats.tx_rejected++;
}
} else {
// hal.console->printf("TDEAD: %lu CURRT: %lu DEL: %lu\n", tx.deadline, curr_time, curr_time-tx.deadline);
@ -702,7 +702,7 @@ bool CANIface::CANSocketEventSource::wait(uint64_t duration, AP_HAL::EventHandle
void CANIface::get_stats(ExpandingString &str)
{
str.printf("tx_requests: %u\n"
"tx_write_fail: %u\n"
"tx_rejected: %u\n"
"tx_full: %u\n"
"tx_confirmed: %u\n"
"tx_success: %u\n"
@ -716,7 +716,7 @@ void CANIface::get_stats(ExpandingString &str)
"num_poll_tx_events: %u\n"
"num_poll_rx_events: %u\n",
stats.tx_requests,
stats.tx_write_fail,
stats.tx_rejected,
stats.tx_full,
stats.tx_confirmed,
stats.tx_success,

18
libraries/AP_HAL_SITL/CANSocketIface.h
View File

@ -118,6 +118,13 @@ public:
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override;
/*
return statistics structure
*/
const bus_stats_t *get_statistics(void) const override {
return &stats;
}
class CANSocketEventSource : public AP_HAL::EventSource {
friend class CANIface;
CANIface *_ifaces[HAL_NUM_CAN_IFACES];
@ -179,15 +186,12 @@ private:
std::unordered_multiset<uint32_t> _pending_loopback_ids;
std::vector<can_filter> _hw_filters_container;
struct {
uint32_t tx_requests;
/*
additional statistics
*/
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
uint32_t tx_full;
uint32_t tx_confirmed;
uint32_t tx_write_fail;
uint32_t tx_success;
uint32_t tx_timedout;
uint32_t rx_received;
uint32_t rx_errors;
uint32_t num_downs;
uint32_t num_rx_poll_req;
uint32_t num_tx_poll_req;