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HAL_SITL: added debug for multicast startup

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useful for CI diagnosis
This commit is contained in:
Andrew Tridgell 2023-08-20 07:33:30 +10:00 committed by Peter Barker
parent 52d80241b9
commit 823ac579cd
2 changed files with 6 additions and 0 deletions
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5
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
View File

@ -188,6 +188,7 @@ void SimMCast::multicast_open(void)
strerror(errno)); strerror(errno));
exit(1); exit(1);
} }
::printf("multicast receiver initialised\n");
} }
/* /*
@ -247,7 +248,11 @@ void SimMCast::multicast_read(void)
while (recvfrom(mc_fd, (void*)&state, sizeof(state), MSG_WAITALL, (sockaddr *)&in_addr, &len) != sizeof(state)) { while (recvfrom(mc_fd, (void*)&state, sizeof(state), MSG_WAITALL, (sockaddr *)&in_addr, &len) != sizeof(state)) {
// nop // nop
} }
if (_sitl->state.timestamp_us == 0) {
printf("Got multicast state input\n");
}
if (state.timestamp_us < _sitl->state.timestamp_us) { if (state.timestamp_us < _sitl->state.timestamp_us) {
printf("multicast state time reset\n");
// main process has rebooted // main process has rebooted
base_time_us += (_sitl->state.timestamp_us - state.timestamp_us); base_time_us += (_sitl->state.timestamp_us - state.timestamp_us);
} }

1
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -666,6 +666,7 @@ void SITL_State::multicast_state_open(void)
fprintf(stderr, "udp servo connect failed\n"); fprintf(stderr, "udp servo connect failed\n");
exit(1); exit(1);
} }
::printf("multicast initialised\n");
} }
/* /*