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uavcan: fix actuator groups subcriptions and poll()

This commit is contained in:
Anton Babushkin 2014-08-02 13:01:42 +02:00
parent d3d5aa9bdc
commit 5824607c76
1 changed files with 19 additions and 17 deletions
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36
src/modules/uavcan/uavcan_main.cpp
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@ -253,7 +253,6 @@ int UavcanNode::run()
// XXX figure out the output count
_output_count = 2;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
actuator_outputs_s outputs;
@ -273,21 +272,23 @@ int UavcanNode::run()
_node.setStatusOk();
while (!_task_should_exit) {
/*
* This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
* Please note that with such multiplexing it is no longer possible to rely only on
* the value returned from poll() to detect whether actuator control has timed out or not.
* Instead, all ORB events need to be checked individually (see below).
*/
_poll_fds_num = 0;
_poll_fds[_poll_fds_num] = ::pollfd();
_poll_fds[_poll_fds_num].fd = busevent_fd;
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num += 1;
while (!_task_should_exit) {
// update actuator controls subscriptions if needed
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/*
* This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
* Please note that with such multiplexing it is no longer possible to rely only on
* the value returned from poll() to detect whether actuator control has timed out or not.
* Instead, all ORB events need to be checked individually (see below).
*/
_poll_fds[_poll_fds_num] = ::pollfd();
_poll_fds[_poll_fds_num].fd = busevent_fd;
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num += 1;
}
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
@ -301,7 +302,7 @@ int UavcanNode::run()
} else {
// get controls for required topics
bool controls_updated = false;
unsigned poll_id = 0;
unsigned poll_id = 1;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
@ -317,7 +318,7 @@ int UavcanNode::run()
// XXX trigger failsafe
}
//can we mix?
// can we mix?
if (controls_updated && (_mixers != nullptr)) {
// XXX one output group has 8 outputs max,
@ -417,7 +418,8 @@ UavcanNode::subscribe()
// Subscribe/unsubscribe to required actuator control groups
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
// the first fd used by CAN
_poll_fds_num = 1;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
@ -523,8 +525,8 @@ UavcanNode::print_info()
warnx("not running, start first");
}
warnx("groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
warnx("mixer: %s", (_mixers == nullptr) ? "FAIL" : "OK");
warnx("actuators control groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
warnx("mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
}
/*