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UAVCAN status reporting and proper termination

This commit is contained in:
Pavel Kirienko 2014-08-24 00:20:57 +04:00
parent e9da830316
commit 701bd803ce
1 changed files with 19 additions and 2 deletions
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21
src/modules/uavcan/uavcan_main.cpp
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@ -106,6 +106,14 @@ UavcanNode::~UavcanNode()
::close(_armed_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
auto next = br->getSibling();
delete br;
br = next;
}
_instance = nullptr;
}
@ -539,8 +547,17 @@ UavcanNode::print_info()
(void)pthread_mutex_lock(&_node_mutex);
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");
// 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");
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels());
br = br->getSibling();
}
(void)pthread_mutex_unlock(&_node_mutex);
}