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uavcan_dynamic_node_id_server - a couple of fixes

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This commit is contained in:
Pavel Kirienko
2015-05-23 20:15:48 +03:00
parent 66dc702a7e
commit 65db68a514
1 changed files with 12 additions and 10 deletions
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libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
+12 -10
View File
@@ -27,6 +27,9 @@
namespace 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) uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
{ {
auto node = uavcan_linux::makeNode(ifaces); auto node = uavcan_linux::makeNode(ifaces);
@@ -133,6 +136,8 @@ private:
{ {
uavcan_posix::dynamic_node_id_server::FileEventTracer::onEvent(code, argument); uavcan_posix::dynamic_node_id_server::FileEventTracer::onEvent(code, argument);
had_events_ = true;
const auto ts = clock_.getMonotonic(); const auto ts = clock_.getMonotonic();
const auto time_since_startup = ts - started_at_; 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()))); pairs.resize(std::min(num_events, unsigned(pairs.size())));
// Sorting so that the most frequent events are on top of the list // 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; return a.second.count > b.second.count;
}); });
@@ -352,18 +357,17 @@ void redraw(const uavcan_linux::NodePtr& node,
std::printf("--------------------------------------+----------------------------------------\n"); std::printf("--------------------------------------+----------------------------------------\n");
// Event log // 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) - const int num_events_to_render = static_cast<int>(num_rows) -
static_cast<int>(next_relevant_event_index) - 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; for (int i = 0;
i < num_events_to_render && i < static_cast<int>(event_tracer.getNumEvents()); i < num_events_to_render && i < static_cast<int>(event_tracer.getNumEvents());
i++) i++)
{ {
// NEWLINE IS PREPENDED std::printf("%s\n", event_tracer.getEventByIndex(i).toString().c_str());
std::printf("\n%s", 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); std::fflush(stdout);
} }
@@ -377,9 +381,7 @@ void runForever(const uavcan_linux::NodePtr& node,
/* /*
* Event tracer * Event tracer
*/ */
const unsigned num_last_events_to_keep = 100; EventTracer event_tracer(MaxNumLastEvents);
EventTracer event_tracer(num_last_events_to_keep);
ENFORCE(0 <= event_tracer.init(event_log_file.c_str())); ENFORCE(0 <= event_tracer.init(event_log_file.c_str()));
/* /*
@@ -403,7 +405,7 @@ void runForever(const uavcan_linux::NodePtr& node,
while (true) while (true)
{ {
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(100)); const int res = node->spin(uavcan::MonotonicDuration::fromMSec(MinUpdateInterval));
if (res < 0) if (res < 0)
{ {
std::cerr << "Spin error: " << res << std::endl; std::cerr << "Spin error: " << res << std::endl;