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Printing all online nodes within UAVCAN status output. This feature increased memory footprint by about 150 bytes.

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This commit is contained in:
Pavel Kirienko
2016-10-22 13:54:56 +03:00
committed by Lorenz Meier
parent 9b0ab83f9b
commit 3a332bb11a
2 changed files with 17 additions and 3 deletions
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16
src/modules/uavcan/uavcan_main.cpp
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@@ -45,6 +45,7 @@
#include <cstdlib>
#include <cstring>
#include <array>
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
@@ -84,6 +85,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_hardpoint_controller(_node),
_time_sync_master(_node),
_time_sync_slave(_node),
_node_status_monitor(_node),
_master_timer(_node),
_setget_response(0)
@@ -806,7 +808,7 @@ int UavcanNode::run()
_master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync));
_master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000));
_node_status_monitor.start();
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
@@ -1253,6 +1255,18 @@ UavcanNode::print_info()
br = br->getSibling();
}
// Printing all nodes that are online
std::printf("Online nodes (Node ID, Health, Mode):\n");
_node_status_monitor.forEachNode([](uavcan::NodeID nid, uavcan::NodeStatusMonitor::NodeStatus ns) {
static constexpr std::array<const char*, 4> HEALTH {
"OK", "WARN", "ERR", "CRIT"
};
static constexpr std::array<const char*, 8> MODES {
"OPERAT", "INIT", "MAINT", "SW_UPD", "?", "?", "?", "OFFLN"
};
std::printf("\t% 3d %-10s %-10s\n", int(nid.get()), HEALTH.at(ns.health), MODES.at(ns.mode));
});
(void)pthread_mutex_unlock(&_node_mutex);
}