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uavcan: fix hw_errors from mutex lock, hide ESC/Servo status if no function set (#23888)

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Jacob Dahl 2025-01-21 14:48:05 -09:00 committed by GitHub
parent a3215419d7
commit 1900d2c98f
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GPG Key ID: B5690EEEBB952194
1 changed files with 20 additions and 10 deletions
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30
src/drivers/uavcan/uavcan_main.cpp
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@ -1073,8 +1073,6 @@ void UavcanMixingInterfaceServo::Run()
void
UavcanNode::print_info()
{
(void)pthread_mutex_lock(&_node_mutex);
// Memory status
printf("Pool allocator status:\n");
printf("\tCapacity hard/soft: %" PRIu16 "/%" PRIu16 " blocks\n",
@ -1112,15 +1110,29 @@ UavcanNode::print_info()
printf("\n");
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
printf("ESC outputs:\n");
_mixing_interface_esc.mixingOutput().printStatus();
printf("Servo outputs:\n");
_mixing_interface_servo.mixingOutput().printStatus();
// Print esc status if at least one channel is enabled
for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
if (_mixing_interface_esc.mixingOutput().isFunctionSet(i)) {
printf("ESC outputs:\n");
_mixing_interface_esc.mixingOutput().printStatus();
printf("\n");
break;
}
}
// Print servo status if at least one channel is enabled
for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
if (_mixing_interface_servo.mixingOutput().isFunctionSet(i)) {
printf("Servo outputs:\n");
_mixing_interface_servo.mixingOutput().printStatus();
printf("\n");
break;
}
}
#endif
printf("\n");
// Sensor bridges
for (const auto &br : _sensor_bridges) {
printf("Sensor '%s':\n", br->get_name());
@ -1140,8 +1152,6 @@ UavcanNode::print_info()
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
(void)pthread_mutex_unlock(&_node_mutex);
}
void