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UavcanEscController broadcasting percounter

This commit is contained in:
Pavel Kirienko 2015-01-11 00:11:48 +03:00 committed by Lorenz Meier
parent eea3c801f4
commit 7f0f4b3072
2 changed files with 15 additions and 0 deletions
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14
src/modules/uavcan/actuators/esc.cpp
View File

@ -49,12 +49,24 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
_uavcan_sub_status(node),
_orb_timer(node)
{
if (_perfcnt_invalid_input == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_invalid_input");
}
if (_perfcnt_scaling_error == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error");
}
if (_perfcnt_broadcast_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_broadcast_elapsed");
}
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
perf_free(_perfcnt_broadcast_elapsed);
}
int UavcanEscController::init()
@ -129,7 +141,9 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
perf_begin(_perfcnt_broadcast_elapsed);
(void)_uavcan_pub_raw_cmd.broadcast(msg);
perf_end(_perfcnt_broadcast_elapsed);
}
void UavcanEscController::arm_all_escs(bool arm)

1
src/modules/uavcan/actuators/esc.hpp
View File

@ -109,4 +109,5 @@ private:
*/
perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
perf_counter_t _perfcnt_broadcast_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_broadcast_elapsed");
};