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uavcan status output extended with CAN error reporting

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Pavel Kirienko 2015-10-18 03:56:09 +03:00 committed by Lorenz Meier
parent 635bfb6a7b
commit e06c46da03
1 changed files with 7 additions and 0 deletions
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7
src/modules/uavcan/uavcan_main.cpp
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@ -1131,6 +1131,13 @@ UavcanNode::print_info()
printf("\tReserved: %u blocks\n", _pool_allocator.getNumReservedBlocks());
printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
// CAN driver status
printf("CAN status:\n");
for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
printf("\tCAN%u: errors: %llu\n", unsigned(i + 1), iface->getErrorCount());
}
// ESC mixer status
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);