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Merge pull request #2703 from PX4/beta_uavcan_servers_fix 

Beta uavcan servers fix
This commit is contained in:
Lorenz Meier 2015-08-15 09:22:11 +02:00
parent e9ce0789c3 36f91d30eb
commit ac4c608573
1 changed files with 15 additions and 2 deletions
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17
src/modules/uavcan/uavcan_servers.cpp
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@ -98,6 +98,7 @@ UavcanServers::~UavcanServers()
if (_mutex_inited) { if (_mutex_inited) {
(void)Lock::deinit(_subnode_mutex); (void)Lock::deinit(_subnode_mutex);
} }
_main_node.getDispatcher().removeRxFrameListener();
} }
int UavcanServers::stop(void) int UavcanServers::stop(void)
@ -142,8 +143,9 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
int rv = _instance->init(num_ifaces); int rv = _instance->init(num_ifaces);
if (rv < 0) { if (rv < 0) {
warnx("Node init failed %i", rv); warnx("Node init failed: %d", rv);
delete _instance; delete _instance;
_instance = nullptr;
return rv; return rv;
} }
@ -163,9 +165,10 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
rv = pthread_create(&_instance->_subnode_thread, &tattr, static_cast<pthread_startroutine_t>(run_trampoline), NULL); rv = pthread_create(&_instance->_subnode_thread, &tattr, static_cast<pthread_startroutine_t>(run_trampoline), NULL);
if (rv < 0) { if (rv < 0) {
warnx("start failed: %d", errno); warnx("pthread_create() failed: %d", errno);
rv = -errno; rv = -errno;
delete _instance; delete _instance;
_instance = nullptr;
} }
return rv; return rv;
@ -173,6 +176,8 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
int UavcanServers::init(unsigned num_ifaces) int UavcanServers::init(unsigned num_ifaces)
{ {
errno = 0;
/* /*
* Initialize the mutex. * Initialize the mutex.
* giving it its path * giving it its path
@ -181,6 +186,7 @@ int UavcanServers::init(unsigned num_ifaces)
int ret = Lock::init(_subnode_mutex); int ret = Lock::init(_subnode_mutex);
if (ret < 0) { if (ret < 0) {
warnx("Lock init: %d", errno);
return ret; return ret;
} }
@ -197,6 +203,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _fw_version_checker.createFwPaths(UAVCAN_FIRMWARE_PATH); ret = _fw_version_checker.createFwPaths(UAVCAN_FIRMWARE_PATH);
if (ret < 0) { if (ret < 0) {
warnx("FirmwareVersionChecker init: %d, errno: %d", ret, errno);
return ret; return ret;
} }
@ -205,6 +212,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _fw_server.start(); ret = _fw_server.start();
if (ret < 0) { if (ret < 0) {
warnx("BasicFileServer init: %d, errno: %d", ret, errno);
return ret; return ret;
} }
@ -213,6 +221,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _storage_backend.init(UAVCAN_NODE_DB_PATH); ret = _storage_backend.init(UAVCAN_NODE_DB_PATH);
if (ret < 0) { if (ret < 0) {
warnx("FileStorageBackend init: %d, errno: %d", ret, errno);
return ret; return ret;
} }
@ -221,6 +230,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _tracer.init(UAVCAN_LOG_FILE); ret = _tracer.init(UAVCAN_LOG_FILE);
if (ret < 0) { if (ret < 0) {
warnx("FileEventTracer init: %d, errno: %d", ret, errno);
return ret; return ret;
} }
@ -232,6 +242,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _server_instance.init(hwver.unique_id); ret = _server_instance.init(hwver.unique_id);
if (ret < 0) { if (ret < 0) {
warnx("CentralizedServer init: %d", ret);
return ret; return ret;
} }
@ -240,6 +251,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _node_info_retriever.start(); ret = _node_info_retriever.start();
if (ret < 0) { if (ret < 0) {
warnx("NodeInfoRetriever init: %d", ret);
return ret; return ret;
} }
@ -248,6 +260,7 @@ int UavcanServers::init(unsigned num_ifaces)
ret = _fw_upgrade_trigger.start(_node_info_retriever, _fw_version_checker.getFirmwarePath()); ret = _fw_upgrade_trigger.start(_node_info_retriever, _fw_version_checker.getFirmwarePath());
if (ret < 0) { if (ret < 0) {
warnx("FirmwareUpdateTrigger init: %d", ret);
return ret; return ret;
} }