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Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent 40e6a5a39b
commit 6f1f414b49
31 changed files with 427 additions and 266 deletions
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src/lib/drivers/airspeed/airspeed.cpp
-27
View File
@@ -54,20 +54,17 @@
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/airspeed/airspeed.h>
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
I2C("Airspeed", path, bus, address, 100000),
_sensor_ok(false),
_last_published_sensor_ok(true), /* initialize differently to force publication */
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(nullptr),
_airspeed_orb_class_instance(-1),
_subsys_pub(nullptr),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
@@ -248,33 +245,9 @@ Airspeed::stop()
work_cancel(HPWORK, &_work);
}
void
Airspeed::update_status()
{
if (_sensor_ok != _last_published_sensor_ok) {
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = _sensor_ok;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE;
if (_subsys_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
} else {
_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
_last_published_sensor_ok = _sensor_ok;
}
}
void
Airspeed::cycle_trampoline(void *arg)
{
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
dev->update_status();
}
src/lib/drivers/airspeed/airspeed.h
-9
View File
@@ -43,7 +43,6 @@
#include <systemlib/airspeed.h>
#include <perf/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/uORB.h>
/* Default I2C bus */
@@ -75,14 +74,8 @@ protected:
virtual int measure() = 0;
virtual int collect() = 0;
/**
* Update the subsystem status
*/
void update_status();
work_s _work;
bool _sensor_ok;
bool _last_published_sensor_ok;
uint32_t _measure_ticks;
bool _collect_phase;
float _diff_pres_offset;
@@ -90,8 +83,6 @@ protected:
orb_advert_t _airspeed_pub;
int _airspeed_orb_class_instance;
orb_advert_t _subsys_pub;
int _class_instance;
unsigned _conversion_interval;