From 21b4a19c6f78deff475b1003c406c933f71519f9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Dec 2022 13:35:59 +1100
Subject: [PATCH] HAL_SITL: implement CAN get_statistics()

---
 libraries/AP_HAL_SITL/CANSocketIface.cpp |  6 +++---
 libraries/AP_HAL_SITL/CANSocketIface.h   | 18 +++++++++++-------
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL_SITL/CANSocketIface.cpp b/libraries/AP_HAL_SITL/CANSocketIface.cpp
index 02501a9486..84c6147509 100644
--- a/libraries/AP_HAL_SITL/CANSocketIface.cpp
+++ b/libraries/AP_HAL_SITL/CANSocketIface.cpp
@@ -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,
diff --git a/libraries/AP_HAL_SITL/CANSocketIface.h b/libraries/AP_HAL_SITL/CANSocketIface.h
index a9e9ac486c..37dd3fd584 100644
--- a/libraries/AP_HAL_SITL/CANSocketIface.h
+++ b/libraries/AP_HAL_SITL/CANSocketIface.h
@@ -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;