From e31dd3438887ecff830bb8dd36f20d8a32b3e2cd Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 15 Sep 2021 12:23:18 -0400
Subject: [PATCH] lib/led: replace subscription missed error with perf count

---
 src/lib/led/led.cpp |  3 ++-
 src/lib/led/led.h   | 13 ++++++++-----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/lib/led/led.cpp b/src/lib/led/led.cpp
index 8248dcc92b..6a96d49960 100644
--- a/src/lib/led/led.cpp
+++ b/src/lib/led/led.cpp
@@ -75,7 +75,8 @@ int LedController::update(LedControlData &control_data)
 
 			if ((_led_control_sub.get_last_generation() != last_generation + 1)
 			    && (_led_control_sub.get_last_generation() != last_generation)) {
-				PX4_ERR("led_control lost, generation %d -> %d", last_generation, _led_control_sub.get_last_generation());
+				perf_count(_led_control_sub_lost_perf);
+				PX4_DEBUG("led_control lost, generation %d -> %d", last_generation, _led_control_sub.get_last_generation());
 			}
 
 			// don't apply the new state just yet to avoid interrupting an ongoing blinking state
diff --git a/src/lib/led/led.h b/src/lib/led/led.h
index 5d15161312..48a0cb17dc 100644
--- a/src/lib/led/led.h
+++ b/src/lib/led/led.h
@@ -43,16 +43,14 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_led.h>
-
 #include <px4_platform_common/module_params.h>
-
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/led_control.h>
 #include <uORB/topics/parameter_update.h>
 
-#include <lib/parameters/param.h>
-
 using namespace time_literals;
 
 struct LedControlDataSingle {
@@ -72,7 +70,10 @@ class LedController : public ModuleParams
 {
 public:
 	LedController() : ModuleParams(nullptr) {}
-	~LedController() override = default;
+	~LedController() override
+	{
+		perf_free(_led_control_sub_lost_perf);
+	}
 
 	/**
 	 * get maxium time between two consecutive calls to update() in us.
@@ -185,6 +186,8 @@ private:
 
 	hrt_abstime _last_update_call{0};
 
+	perf_counter_t _led_control_sub_lost_perf{perf_alloc(PC_COUNT, MODULE_NAME": led_control message missed")};
+
 	uint8_t _max_brightness{UINT8_MAX};
 
 	bool _force_update{true}; ///< force an orb_copy in the beginning