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px4-firmware
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Capture TX issues in performance counter instead of spamming console in mavlink app

This commit is contained in:
Lorenz Meier 2014-06-22 18:15:40 +02:00
parent f318ee2194
commit 72afa2ca2b
2 changed files with 30 additions and 6 deletions
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30
src/modules/mavlink/mavlink_main.cpp
View File

@ -192,13 +192,14 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
if (buf_free < desired) {
/* we don't want to send anything just in half, so return */
instance->count_txerr();
return;
}
}
ssize_t ret = write(uart, ch, desired);
if (ret != desired) {
warnx("TX FAIL");
instance->count_txerr();
} else {
last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
}
@ -237,7 +238,8 @@ Mavlink::Mavlink() :
_flow_control_enabled(true),
_message_buffer({}),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
_wpm = &_wpm_s;
mission.count = 0;
@ -290,6 +292,7 @@ Mavlink::Mavlink() :
Mavlink::~Mavlink()
{
perf_free(_loop_perf);
perf_free(_txerr_perf);
if (_task_running) {
/* task wakes up every 10ms or so at the longest */
@ -314,6 +317,12 @@ Mavlink::~Mavlink()
LL_DELETE(_mavlink_instances, this);
}
void
Mavlink::count_txerr()
{
perf_count(_txerr_perf);
}
void
Mavlink::set_mode(enum MAVLINK_MODE mode)
{
@ -2169,11 +2178,20 @@ int Mavlink::start_helper(int argc, char *argv[])
/* create the instance in task context */
Mavlink *instance = new Mavlink();
/* this will actually only return once MAVLink exits */
int res = instance->task_main(argc, argv);
int res;
/* delete instance on main thread end */
delete instance;
if (!instance) {
/* out of memory */
res = -ENOMEM;
warnx("OUT OF MEM");
} else {
/* this will actually only return once MAVLink exits */
res = instance->task_main(argc, argv);
/* delete instance on main thread end */
delete instance;
}
return res;
}

6
src/modules/mavlink/mavlink_main.h
View File

@ -213,6 +213,11 @@ public:
bool get_wait_to_transmit() { return _wait_to_transmit; }
bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
/**
* Count a transmision error
*/
void count_txerr();
protected:
Mavlink *next;
@ -282,6 +287,7 @@ private:
pthread_mutex_t _message_buffer_mutex;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _txerr_perf; /**< TX error counter */
/**
* Send one parameter.