fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

uavcan_dynamic_node_id_server - a couple of fixes

Browse Source
This commit is contained in:
Pavel Kirienko 2015-05-23 20:13:23 +03:00
parent 66dc702a7e
commit 65db68a514
1 changed files with 12 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
View File

@ -27,6 +27,9 @@
namespace
{
constexpr int MaxNumLastEvents = 30;
constexpr int MinUpdateInterval = 100;
uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
@ -133,6 +136,8 @@ private:
{
uavcan_posix::dynamic_node_id_server::FileEventTracer::onEvent(code, argument);
had_events_ = true;
const auto ts = clock_.getMonotonic();
const auto time_since_startup = ts - started_at_;
@ -197,7 +202,7 @@ collectRelevantEvents(const EventTracer& event_tracer, const unsigned num_events
pairs.resize(std::min(num_events, unsigned(pairs.size())));
// Sorting so that the most frequent events are on top of the list
std::sort(pairs.begin(), pairs.end(), [](const Pair& a, const Pair& b) {
std::stable_sort(pairs.begin(), pairs.end(), [](const Pair& a, const Pair& b) {
return a.second.count > b.second.count;
});
@ -352,18 +357,17 @@ void redraw(const uavcan_linux::NodePtr& node,
std::printf("--------------------------------------+----------------------------------------\n");
// Event log
std::printf("%s", EventTracer::RecentEvent::getTableHeader()); // NO NEWLINE
std::printf("%s\n", EventTracer::RecentEvent::getTableHeader());
const int num_events_to_render = static_cast<int>(num_rows) -
static_cast<int>(next_relevant_event_index) -
static_cast<int>(NumRowsWithoutEvents);
static_cast<int>(NumRowsWithoutEvents) -
1; // This allows to keep the last line empty for stdout or UAVCAN_TRACE()
for (int i = 0;
i < num_events_to_render && i < static_cast<int>(event_tracer.getNumEvents());
i++)
{
// NEWLINE IS PREPENDED
std::printf("\n%s", event_tracer.getEventByIndex(i).toString().c_str());
std::printf("%s\n", event_tracer.getEventByIndex(i).toString().c_str());
}
// Note that the last line does not have trailing newline. This allows to use all available rows.
std::fflush(stdout);
}
@ -377,9 +381,7 @@ void runForever(const uavcan_linux::NodePtr& node,
/*
* Event tracer
*/
const unsigned num_last_events_to_keep = 100;
EventTracer event_tracer(num_last_events_to_keep);
EventTracer event_tracer(MaxNumLastEvents);
ENFORCE(0 <= event_tracer.init(event_log_file.c_str()));
/*
@ -403,7 +405,7 @@ void runForever(const uavcan_linux::NodePtr& node,
while (true)
{
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(100));
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(MinUpdateInterval));
if (res < 0)
{
std::cerr << "Spin error: " << res << std::endl;