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AP_Arming: add support for reporting UAVCAN Server errors

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Siddharth Purohit 2019-10-04 12:42:10 +05:30 committed by Andrew Tridgell
parent fb48d8ee1b
commit 9b2c060cc5
1 changed files with 12 additions and 10 deletions
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22
libraries/AP_Arming/AP_Arming.cpp
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@ -41,6 +41,7 @@
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
#include <AP_KDECAN/AP_KDECAN.h> #include <AP_KDECAN/AP_KDECAN.h>
#endif #endif
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif #endif
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
@ -732,7 +733,7 @@ bool AP_Arming::can_checks(bool report)
{ {
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
if (check_enabled(ARMING_CHECK_SYSTEM)) { if (check_enabled(ARMING_CHECK_SYSTEM)) {
const char *fail_msg = nullptr; char fail_msg[50] = {};
uint8_t num_drivers = AP::can().get_num_drivers(); uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) { for (uint8_t i = 0; i < num_drivers; i++) {
@ -741,21 +742,22 @@ bool AP_Arming::can_checks(bool report)
// To be replaced with macro saying if KDECAN library is included // To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i); AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
if (ap_kdecan != nullptr && !ap_kdecan->pre_arm_check(fail_msg)) { snprintf(fail_msg, ARRAY_SIZE(fail_msg), "KDECAN failed");
if (fail_msg == nullptr) { if (ap_kdecan != nullptr && !ap_kdecan->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_SYSTEM, report, "KDECAN failed"); check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg);
} else {
check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg);
}
return false; return false;
} }
break; break;
#else
UNUSED_RESULT(fail_msg); // prevent unused variable error
#endif #endif
} }
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
{
snprintf(fail_msg, ARRAY_SIZE(fail_msg), "UAVCAN failed");
if (!AP::uavcan_server().prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg);
return false;
}
}
case AP_BoardConfig_CAN::Protocol_Type_None: case AP_BoardConfig_CAN::Protocol_Type_None:
default: default:
break; break;