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Resolved shared memory parameter problems and removed additional debug code.

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This commit is contained in:
jwilson
2016-02-19 16:59:49 +01:00
committed by Julian Oes
parent d84639f8c4
commit 4adfea7fa9
4 changed files with 29 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
-15
View File
@@ -839,9 +839,6 @@ MulticopterAttitudeControl::task_main()
continue; continue;
} }
// TODO-JYW: TESTING-TESTING:
warnx("_ctrl_state_sub is producing data");
/* this is undesirable but not much we can do - might want to flag unhappy status */ /* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) { if (pret < 0) {
warn("mc att ctrl: poll error %d, %d", pret, errno); warn("mc att ctrl: poll error %d, %d", pret, errno);
@@ -887,9 +884,6 @@ MulticopterAttitudeControl::task_main()
} }
} }
// TODO-JYW: TESTING-TESTING:
warnx("_v_control_mode.flag_control_attitude_enabled: %d", _v_control_mode.flag_control_attitude_enabled);
if (_v_control_mode.flag_control_attitude_enabled) { if (_v_control_mode.flag_control_attitude_enabled) {
if (_ts_opt_recovery == nullptr) { if (_ts_opt_recovery == nullptr) {
@@ -959,9 +953,6 @@ MulticopterAttitudeControl::task_main()
} }
} }
// TODO-JYW: TESTING-TESTING:
warnx("_v_control_mode.flag_control_rates_enabled: %d", _v_control_mode.flag_control_rates_enabled);
if (_v_control_mode.flag_control_rates_enabled) { if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt); control_attitude_rates(dt);
@@ -978,15 +969,9 @@ MulticopterAttitudeControl::task_main()
_controller_status.yaw_rate_integ = _rates_int(2); _controller_status.yaw_rate_integ = _rates_int(2);
_controller_status.timestamp = hrt_absolute_time(); _controller_status.timestamp = hrt_absolute_time();
// TODO-JYW: TESTING-TESTING:
warnx("_actuators_0_circuit_breaker_enabled: %d", _actuators_0_circuit_breaker_enabled);
if (!_actuators_0_circuit_breaker_enabled) { if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub != nullptr) { if (_actuators_0_pub != nullptr) {
// TODO-JYW: TESTING-TESTING:
warnx("publishing actuator controls");
orb_publish(_actuators_id, _actuators_0_pub, &_actuators); orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf); perf_end(_controller_latency_perf);
src/modules/sensors/sensors.cpp
-4
View File
@@ -2231,9 +2231,6 @@ Sensors::task_main()
/* this is undesirable but not much we can do - might want to flag unhappy status */ /* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) { if (pret < 0) {
warnx("poll error: pret: %d, errno: %d, gyro_sub: %d", pret, errno, fds[0].fd);
// TODO-JYW: TESTING-TESTING
/* if the polling operation failed because no gyro sensor is available yet, /* if the polling operation failed because no gyro sensor is available yet,
* then attempt to subscribe once again * then attempt to subscribe once again
*/ */
@@ -2241,7 +2238,6 @@ Sensors::task_main()
_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0], _gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
&raw.gyro_priority[0], &raw.gyro_errcount[0]); &raw.gyro_priority[0], &raw.gyro_errcount[0]);
fds[0].fd = _gyro_sub[0]; fds[0].fd = _gyro_sub[0];
warnx("poll error: gyro count: %d, gyro sub: %d", _gyro_count, fds[0].fd);
} }
continue; continue;
} }
src/modules/systemlib/param/param_shmem.c
+25 -13
View File
@@ -33,6 +33,8 @@
* *
****************************************************************************/ ****************************************************************************/
// TODO-JYW: TESTING-TESTING
#define DEBUG_BUILD 1
/** /**
* @file param.c * @file param.c
@@ -126,7 +128,7 @@ uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
extern void update_to_shmem(param_t param, union param_value_u value); extern void update_to_shmem(param_t param, union param_value_u value);
extern int update_from_shmem(param_t param, union param_value_u *value); extern int update_from_shmem(param_t param, union param_value_u *value);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes); static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
unsigned char set_called_from_get = 0; unsigned char set_called_from_get = 0;
static int param_import_done = static int param_import_done =
@@ -251,9 +253,12 @@ param_find_changed(param_t param)
} }
static void static void
param_notify_changes(void) param_notify_changes(bool is_saved)
{ {
struct parameter_update_s pup = { .timestamp = hrt_absolute_time() }; struct parameter_update_s pup = { .timestamp = hrt_absolute_time(), .saved = is_saved };
// TODO-JYW: TESTING-TESTING:
warnx("param_notify_changes: notifying of changes, timestamp: %lld, is_saved: %d", pup.timestamp, pup.saved);
/* /*
* If we don't have a handle to our topic, create one now; otherwise * If we don't have a handle to our topic, create one now; otherwise
@@ -507,7 +512,7 @@ param_get(param_t param, void *val)
if (update_from_shmem(param, &value)) { if (update_from_shmem(param, &value)) {
set_called_from_get = 1; set_called_from_get = 1;
param_set_internal(param, &value, true, false); param_set_internal(param, &value, true, false, false);
set_called_from_get = 0; set_called_from_get = 0;
} }
@@ -541,7 +546,7 @@ param_get(param_t param, void *val)
} }
static int static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes) param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
{ {
int result = -1; int result = -1;
bool params_changed = false; bool params_changed = false;
@@ -631,7 +636,7 @@ out:
if (!param_import_done) { notify_changes = 0; } if (!param_import_done) { notify_changes = 0; }
if (params_changed && notify_changes) { if (params_changed && notify_changes) {
param_notify_changes(); param_notify_changes(is_saved);
} }
if (result == 0 && !set_called_from_get) { if (result == 0 && !set_called_from_get) {
@@ -660,13 +665,19 @@ out:
int int
param_set(param_t param, const void *val) param_set(param_t param, const void *val)
{ {
return param_set_internal(param, val, false, true); return param_set_internal(param, val, false, true, false);
}
int
param_set_no_autosave(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, true);
} }
int int
param_set_no_notification(param_t param, const void *val) param_set_no_notification(param_t param, const void *val)
{ {
return param_set_internal(param, val, false, false); return param_set_internal(param, val, false, false, false);
} }
bool bool
@@ -719,7 +730,7 @@ param_reset(param_t param)
param_unlock(); param_unlock();
if (s != NULL) { if (s != NULL) {
param_notify_changes(); param_notify_changes(false);
} }
return (!param_found); return (!param_found);
@@ -739,7 +750,7 @@ param_reset_all(void)
param_unlock(); param_unlock();
param_notify_changes(); param_notify_changes(false);
} }
void void
@@ -771,7 +782,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
param_unlock(); param_unlock();
param_notify_changes(); param_notify_changes(false);
} }
#ifdef __PX4_QURT #ifdef __PX4_QURT
@@ -823,7 +834,7 @@ param_save_default(void)
if (fd < 0) { if (fd < 0) {
PX4_ERR("failed to open param file: %s", filename); PX4_ERR("failed to open param file: %s", filename);
return ERROR; goto exit;
} }
res = param_export(fd, false); res = param_export(fd, false);
@@ -834,6 +845,7 @@ param_save_default(void)
} }
PARAM_CLOSE(fd); PARAM_CLOSE(fd);
fd = -1;
exit: exit:
@@ -1095,7 +1107,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
goto out; goto out;
} }
if (param_set_internal(param, v, state->mark_saved, true)) { if (param_set_internal(param, v, state->mark_saved, true, false)) {
debug("error setting value for '%s'", node->name); debug("error setting value for '%s'", node->name);
goto out; goto out;
} }
src/systemcmds/param/param.c
+4 -10
View File
@@ -448,12 +448,10 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param)); param_name(param));
printf("curr: %ld", (long)i); printf("curr: %ld", (long)i);
// FIXME: the call paramset_no_autosave doesn't exist on Eagle yet.
#ifndef CONFIG_ARCH_BOARD_EAGLE
param_set_no_autosave(param, &newval); param_set_no_autosave(param, &newval);
#else // TODO-JYW: TESTING-TESTING: Reenabling param_set functionality.
param_set(param, &newval); param_set_no_autosave(param, &newval);
#endif >>>>>>> bce2306... Resolved shared memory parameter problems and removed additional debug code.
printf(" -> new: %ld\n", (long)newval); printf(" -> new: %ld\n", (long)newval);
} }
} }
@@ -475,12 +473,8 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param)); param_name(param));
printf("curr: %4.4f", (double)f); printf("curr: %4.4f", (double)f);
// FIXME: the call paramset_no_autosave doesn't exist on Eagle yet. // TODO-JYW: TESTING-TESTING: Reenabling param_set functionality.
#ifndef CONFIG_ARCH_BOARD_EAGLE
param_set_no_autosave(param, &newval); param_set_no_autosave(param, &newval);
#else
param_set(param, &newval);
#endif
printf(" -> new: %4.4f\n", (double)newval); printf(" -> new: %4.4f\n", (double)newval);
} }