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-rw-r--r--src/modules/uavcan/sensors/gnss.cpp10
-rw-r--r--src/modules/uavcan/sensors/gnss.hpp2
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.cpp36
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.hpp15
-rw-r--r--src/modules/uavcan/uavcan_main.cpp13
5 files changed, 57 insertions, 19 deletions
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 8548660fe..0d67aad47 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -70,6 +70,16 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
return (_receiver_node_id < 0) ? 0 : 1;
}
+void UavcanGnssBridge::print_status() const
+{
+ printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
+ if (_receiver_node_id < 0) {
+ printf("N/A\n");
+ } else {
+ printf("%d\n", _receiver_node_id);
+ }
+}
+
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp
index c2b6e4195..e8466b401 100644
--- a/src/modules/uavcan/sensors/gnss.hpp
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -66,6 +66,8 @@ public:
unsigned get_num_redundant_channels() const override;
+ void print_status() const override;
+
private:
/**
* GNSS fix message will be reported via this callback.
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
index a98596f9c..9608ce680 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -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);
+ }
+ }
+}
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
index a13d0ab35..1316f7ecc 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.hpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -69,6 +69,11 @@ public:
virtual unsigned get_num_redundant_channels() const = 0;
/**
+ * Prints current status in a human readable format to stdout.
+ */
+ virtual void print_status() const = 0;
+
+ /**
* Sensor bridge factory.
* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
* @return nullptr if such bridge can't be created.
@@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
{
struct Channel
{
- int redunancy_channel_id = -1;
+ int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@@ -112,13 +117,15 @@ protected:
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
- * @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
- * @param report ORB message object
+ * @param node_id Sensor's Node ID
+ * @param report Pointer to ORB message object
*/
- void publish(const int redundancy_channel_id, const void *report);
+ void publish(const int node_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
+
+ void print_status() const override;
};
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 482fec1e0..a8485ee44 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -41,6 +41,7 @@
#include <systemlib/param/param.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@@ -175,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
- _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
+ _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
@@ -548,14 +549,16 @@ UavcanNode::print_info()
(void)pthread_mutex_lock(&_node_mutex);
// ESC mixer status
- warnx("ESC actuators control groups: sub: %u / req: %u / fds: %u",
- (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
- warnx("ESC mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
+ printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
+ (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
+ printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
- warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels());
+ printf("Sensor '%s':\n", br->get_name());
+ br->print_status();
+ printf("\n");
br = br->getSibling();
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-13 13:16:36 +0000