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Printing all online nodes within UAVCAN status output. This feature increased memory footprint by about 150 bytes.

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This commit is contained in:
Pavel Kirienko
2016-10-23 15:26:10 +02:00
committed by Lorenz Meier
parent 9b0ab83f9b
commit 3a332bb11a
2 changed files with 17 additions and 3 deletions
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src/modules/uavcan/uavcan_main.cpp
+15 -1
View File
@@ -45,6 +45,7 @@
#include <cstdlib> #include <cstdlib>
#include <cstring> #include <cstring>
#include <array>
#include <fcntl.h> #include <fcntl.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
@@ -84,6 +85,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_hardpoint_controller(_node), _hardpoint_controller(_node),
_time_sync_master(_node), _time_sync_master(_node),
_time_sync_slave(_node), _time_sync_slave(_node),
_node_status_monitor(_node),
_master_timer(_node), _master_timer(_node),
_setget_response(0) _setget_response(0)
@@ -806,7 +808,7 @@ int UavcanNode::run()
_master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync)); _master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync));
_master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000)); _master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000));
_node_status_monitor.start();
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
@@ -1253,6 +1255,18 @@ UavcanNode::print_info()
br = br->getSibling(); br = br->getSibling();
} }
// Printing all nodes that are online
std::printf("Online nodes (Node ID, Health, Mode):\n");
_node_status_monitor.forEachNode([](uavcan::NodeID nid, uavcan::NodeStatusMonitor::NodeStatus ns) {
static constexpr std::array<const char*, 4> HEALTH {
"OK", "WARN", "ERR", "CRIT"
};
static constexpr std::array<const char*, 8> MODES {
"OPERAT", "INIT", "MAINT", "SW_UPD", "?", "?", "?", "OFFLN"
};
std::printf("\t% 3d %-10s %-10s\n", int(nid.get()), HEALTH.at(ns.health), MODES.at(ns.mode));
});
(void)pthread_mutex_unlock(&_node_mutex); (void)pthread_mutex_unlock(&_node_mutex);
} }
src/modules/uavcan/uavcan_main.hpp
+2 -2
View File
@@ -48,6 +48,7 @@
#include <uavcan/helpers/heap_based_pool_allocator.hpp> #include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include <uavcan/protocol/global_time_sync_master.hpp> #include <uavcan/protocol/global_time_sync_master.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp> #include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/node_status_monitor.hpp>
#include <uavcan/protocol/param/GetSet.hpp> #include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp> #include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp> #include <uavcan/protocol/RestartNode.hpp>
@@ -140,8 +141,6 @@ public:
int get_param(int remote_node_id, const char *name); int get_param(int remote_node_id, const char *name);
int reset_node(int remote_node_id); int reset_node(int remote_node_id);
private: private:
void fill_node_info(); void fill_node_info();
int init(uavcan::NodeID node_id); int init(uavcan::NodeID node_id);
@@ -187,6 +186,7 @@ private:
UavcanHardpointController _hardpoint_controller; UavcanHardpointController _hardpoint_controller;
uavcan::GlobalTimeSyncMaster _time_sync_master; uavcan::GlobalTimeSyncMaster _time_sync_master;
uavcan::GlobalTimeSyncSlave _time_sync_slave; uavcan::GlobalTimeSyncSlave _time_sync_slave;
uavcan::NodeStatusMonitor _node_status_monitor;
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges