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Merge pull request #1318 from PX4/uavcan_cli_improvements 

Improved UAVCAN status reporting
This commit is contained in:
Lorenz Meier 2014-08-25 23:36:58 +02:00
parent c786f3ce07 eab701b896
commit 21e3ca6c99
5 changed files with 55 additions and 18 deletions
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10
src/modules/uavcan/sensors/gnss.cpp
View File

@ -70,6 +70,16 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
return (_receiver_node_id < 0) ? 0 : 1;
}
void UavcanGnssBridge::print_status() const
{
printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
if (_receiver_node_id < 0) {
printf("N/A\n");
} else {
printf("%d\n", _receiver_node_id);
}
}
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.

2
src/modules/uavcan/sensors/gnss.hpp
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@ -66,6 +66,8 @@ public:
unsigned get_num_redundant_channels() const override;
void print_status() const override;
private:
/**
* GNSS fix message will be reported via this callback.

36
src/modules/uavcan/sensors/sensor_bridge.cpp
View File

@ -58,7 +58,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
@ -66,13 +66,15 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
delete [] _channels;
}
void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const void *report)
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id == redundancy_channel_id) {
if (_channels[i].node_id == node_id) {
channel = _channels + i;
break;
}
@ -84,11 +86,11 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return; // Give up immediately - saves some CPU time
}
log("adding channel %d...", redundancy_channel_id);
log("adding channel %d...", node_id);
// Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id < 0) {
if (_channels[i].node_id < 0) {
channel = _channels + i;
break;
}
@ -111,9 +113,9 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
}
// Publish to the appropriate topic, abort on failure
channel->orb_id = _orb_topics[class_instance];
channel->redunancy_channel_id = redundancy_channel_id;
channel->class_instance = class_instance;
channel->orb_id = _orb_topics[class_instance];
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise(channel->orb_id, report);
if (channel->orb_advert < 0) {
@ -123,7 +125,7 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return;
}
log("channel %d class instance %d ok", channel->redunancy_channel_id, channel->class_instance);
log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
}
assert(channel != nullptr);
@ -134,9 +136,23 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
out += 1;
}
}
return out;
}
void UavcanCDevSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
printf("channel %d: node id %d --> class instance %d\n",
i, _channels[i].node_id, _channels[i].class_instance);
} else {
printf("channel %d: empty\n", i);
}
}
}

15
src/modules/uavcan/sensors/sensor_bridge.hpp
View File

@ -68,6 +68,11 @@ public:
*/
virtual unsigned get_num_redundant_channels() const = 0;
/**
* Prints current status in a human readable format to stdout.
*/
virtual void print_status() const = 0;
/**
* Sensor bridge factory.
* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
{
struct Channel
{
int redunancy_channel_id = -1;
int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@ -112,13 +117,15 @@ protected:
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
* @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
* @param report ORB message object
* @param node_id Sensor's Node ID
* @param report Pointer to ORB message object
*/
void publish(const int redundancy_channel_id, const void *report);
void publish(const int node_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
void print_status() const override;
};

10
src/modules/uavcan/uavcan_main.cpp
View File

@ -548,14 +548,16 @@ UavcanNode::print_info()
(void)pthread_mutex_lock(&_node_mutex);
// ESC mixer status
warnx("ESC actuators control groups: sub: %u / req: %u / fds: %u",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
warnx("ESC mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels());
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}