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Improved UAVCAN status reporting

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This commit is contained in:
Pavel Kirienko
2014-08-26 00:52:33 +04:00
parent c786f3ce07
commit eab701b896
5 changed files with 55 additions and 18 deletions
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src/modules/uavcan/sensors/sensor_bridge.cpp
+26 -10
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@@ -58,7 +58,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
@@ -66,13 +66,15 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
delete [] _channels;
}
void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const void *report)
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id == redundancy_channel_id) {
if (_channels[i].node_id == node_id) {
channel = _channels + i;
break;
}
@@ -84,11 +86,11 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return; // Give up immediately - saves some CPU time
}
log("adding channel %d...", redundancy_channel_id);
log("adding channel %d...", node_id);
// Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id < 0) {
if (_channels[i].node_id < 0) {
channel = _channels + i;
break;
}
@@ -111,9 +113,9 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
}
// Publish to the appropriate topic, abort on failure
channel->orb_id = _orb_topics[class_instance];
channel->redunancy_channel_id = redundancy_channel_id;
channel->class_instance = class_instance;
channel->orb_id = _orb_topics[class_instance];
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise(channel->orb_id, report);
if (channel->orb_advert < 0) {
@@ -123,7 +125,7 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return;
}
log("channel %d class instance %d ok", channel->redunancy_channel_id, channel->class_instance);
log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
}
assert(channel != nullptr);
@@ -134,9 +136,23 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
out += 1;
}
}
return out;
}
void UavcanCDevSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
printf("channel %d: node id %d --> class instance %d\n",
i, _channels[i].node_id, _channels[i].class_instance);
} else {
printf("channel %d: empty\n", i);
}
}
}