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GCS_MAVLink: log number of times message not sent due to no space

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Peter Barker 2020-04-14 21:08:54 +10:00 committed by Peter Barker
parent 908dfa58f3
commit 8b9281eaa1
3 changed files with 18 additions and 5 deletions
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5
libraries/GCS_MAVLink/GCS.cpp
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@ -256,3 +256,8 @@ bool GCS::out_of_time() const
return true; return true;
} }
void gcs_out_of_space_to_send_count(mavlink_channel_t chan)
{
gcs().chan(chan)->out_of_space_to_send();
}

13
libraries/GCS_MAVLink/GCS.h
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@ -29,6 +29,8 @@
// macros used to determine if a message will fit in the space available. // macros used to determine if a message will fit in the space available.
void gcs_out_of_space_to_send_count(mavlink_channel_t chan);
// important note: despite the names, these messages do NOT check to // important note: despite the names, these messages do NOT check to
// see if the payload will fit in the buffer. They check to see if // see if the payload will fit in the buffer. They check to see if
// the packed message along with any channel overhead will fit. // the packed message along with any channel overhead will fit.
@ -40,15 +42,16 @@
// HAVE_PAYLOAD_SPACE evaluates to an expression that can be used // HAVE_PAYLOAD_SPACE evaluates to an expression that can be used
// anywhere in the code to determine if the mavlink message with ID id // anywhere in the code to determine if the mavlink message with ID id
// can currently fit in the output of _chan. // can currently fit in the output of _chan. Note the use of the ","
#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= PAYLOAD_SIZE(chan, id)) // operator here to increment a counter.
#define HAVE_PAYLOAD_SPACE(_chan, id) (comm_get_txspace(_chan) >= PAYLOAD_SIZE(_chan, id) ? (gcs_out_of_space_to_send_count(_chan), true) : false)
// CHECK_PAYLOAD_SIZE - macro which may only be used within a // CHECK_PAYLOAD_SIZE - macro which may only be used within a
// GCS_MAVLink object's methods. It inserts code which will // GCS_MAVLink object's methods. It inserts code which will
// immediately return false from the current function if there is no // immediately return false from the current function if there is no
// room to fit the mavlink message with id id on the current object's // room to fit the mavlink message with id id on the current object's
// output // output
#define CHECK_PAYLOAD_SIZE(id) if (txspace() < unsigned(packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN)) return false #define CHECK_PAYLOAD_SIZE(id) if (txspace() < unsigned(packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN)) { gcs_out_of_space_to_send_count(chan); return false; }
// CHECK_PAYLOAD_SIZE2 - macro which inserts code which will // CHECK_PAYLOAD_SIZE2 - macro which inserts code which will
// immediately return false from the current function if there is no // immediately return false from the current function if there is no
@ -115,6 +118,9 @@ public:
return MIN(_port->txspace(), 8192U); return MIN(_port->txspace(), 8192U);
} }
// this is called when we discover we'd like to send something but can't:
void out_of_space_to_send() { out_of_space_to_send_count++; }
void send_mission_ack(const mavlink_message_t &msg, void send_mission_ack(const mavlink_message_t &msg,
MAV_MISSION_TYPE mission_type, MAV_MISSION_TYPE mission_type,
MAV_MISSION_RESULT result) const { MAV_MISSION_RESULT result) const {
@ -804,6 +810,7 @@ private:
uint8_t last_tx_seq; uint8_t last_tx_seq;
uint16_t send_packet_count; uint16_t send_packet_count;
uint16_t out_of_space_to_send_count; // number of times HAVE_PAYLOAD_SPACE and friends have returned false
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS #if GCS_DEBUG_SEND_MESSAGE_TIMINGS
struct { struct {

5
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1512,7 +1512,7 @@ void GCS_MAVLINK::log_mavlink_stats()
flags |= (uint8_t)Flags::LOCKED; flags |= (uint8_t)Flags::LOCKED;
} }
const struct log_MAV pkt = { const struct log_MAV pkt{
LOG_PACKET_HEADER_INIT(LOG_MAV_MSG), LOG_PACKET_HEADER_INIT(LOG_MAV_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
chan : (uint8_t)chan, chan : (uint8_t)chan,
@ -1520,7 +1520,8 @@ void GCS_MAVLINK::log_mavlink_stats()
packet_rx_success_count: status->packet_rx_success_count, packet_rx_success_count: status->packet_rx_success_count,
packet_rx_drop_count : status->packet_rx_drop_count, packet_rx_drop_count : status->packet_rx_drop_count,
flags : flags, flags : flags,
stream_slowdown_ms : stream_slowdown_ms stream_slowdown_ms : stream_slowdown_ms,
times_full : out_of_space_to_send_count,
}; };
AP::logger().WriteBlock(&pkt, sizeof(pkt)); AP::logger().WriteBlock(&pkt, sizeof(pkt));