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HAL_Linux: inherit CAN stats structure 

this allows for the last_transmit_us field
This commit is contained in:
Andrew Tridgell 2023-09-02 09:07:06 +10:00
parent bc373354fc
commit 559e85df11
2 changed files with 7 additions and 14 deletions
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12
libraries/AP_HAL_Linux/CANSocketIface.cpp
View File

@ -281,10 +281,10 @@ void CANIface::_pollWrite()
stats.tx_success++;
stats.last_transmit_us = curr_time;
} else if (res == 0) { // Not transmitted, nor is it an error
stats.tx_full++;
stats.tx_overflow++;
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);
@ -592,8 +592,8 @@ bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHan
void CANIface::get_stats(ExpandingString &str)
{
str.printf("tx_requests: %u\n"
"tx_write_fail: %u\n"
"tx_full: %u\n"
"tx_rejected: %u\n"
"tx_overflow: %u\n"
"tx_confirmed: %u\n"
"tx_success: %u\n"
"tx_timedout: %u\n"
@ -606,8 +606,8 @@ 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_full,
stats.tx_rejected,
stats.tx_overflow,
stats.tx_confirmed,
stats.tx_success,
stats.tx_timedout,

9
libraries/AP_HAL_Linux/CANSocketIface.h
View File

@ -174,15 +174,8 @@ private:
std::unordered_multiset<uint32_t> _pending_loopback_ids;
std::vector<can_filter> _hw_filters_container;
struct {
uint32_t tx_requests;
uint32_t tx_full;
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
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;