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uavcan: quiet server output

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- remove verbose UAVCAN command bridge prefix
 - disable many normal PX4_INFO messages entirely (kept as PX4_DEBUG)
 - properly exit when arming (silently)
This commit is contained in:
Daniel Agar
2021-04-02 10:17:39 -04:00
parent 2fcdadfbd1
commit 588883f663
2 changed files with 31 additions and 33 deletions
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src/drivers/uavcan/uavcan_servers.cpp
+30 -32
View File
@@ -117,7 +117,7 @@ UavcanServers::stop()
if (server->_subnode_thread) { if (server->_subnode_thread) {
PX4_INFO("stopping fw srv thread..."); PX4_INFO("stopping fw srv thread...");
server->_subnode_thread_should_exit = true; server->_subnode_thread_should_exit.store(true);
(void)pthread_join(server->_subnode_thread, NULL); (void)pthread_join(server->_subnode_thread, NULL);
} }
@@ -279,7 +279,7 @@ UavcanServers::init()
pthread_addr_t pthread_addr_t
UavcanServers::run(pthread_addr_t) UavcanServers::run(pthread_addr_t)
{ {
prctl(PR_SET_NAME, "uavcan fw srv", 0); prctl(PR_SET_NAME, "uavcan_fw_srv", 0);
Lock lock(_subnode_mutex); Lock lock(_subnode_mutex);
@@ -311,7 +311,7 @@ UavcanServers::run(pthread_addr_t)
memset(_esc_enumeration_ids, 0, sizeof(_esc_enumeration_ids)); memset(_esc_enumeration_ids, 0, sizeof(_esc_enumeration_ids));
_esc_enumeration_index = 0; _esc_enumeration_index = 0;
while (!_subnode_thread_should_exit) { while (!_subnode_thread_should_exit.load()) {
if (_check_fw == true) { if (_check_fw == true) {
_check_fw = false; _check_fw = false;
@@ -347,7 +347,7 @@ UavcanServers::run(pthread_addr_t)
int call_res = _param_getset_client.call(request.node_id, req); int call_res = _param_getset_client.call(request.node_id, req);
if (call_res < 0) { if (call_res < 0) {
PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res); PX4_ERR("couldn't send GetSet: %d", call_res);
} else { } else {
_param_in_progress = true; _param_in_progress = true;
@@ -380,7 +380,7 @@ UavcanServers::run(pthread_addr_t)
int call_res = _param_getset_client.call(request.node_id, req); int call_res = _param_getset_client.call(request.node_id, req);
if (call_res < 0) { if (call_res < 0) {
PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res); PX4_ERR("couldn't send GetSet: %d", call_res);
} else { } else {
_param_in_progress = true; _param_in_progress = true;
@@ -394,7 +394,7 @@ UavcanServers::run(pthread_addr_t)
_param_list_node_id = request.node_id; _param_list_node_id = request.node_id;
_param_list_all_nodes = false; _param_list_all_nodes = false;
PX4_INFO("UAVCAN command bridge: starting component-specific param list"); PX4_DEBUG("starting component-specific param list");
} }
} else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) { } else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) {
@@ -408,7 +408,7 @@ UavcanServers::run(pthread_addr_t)
_param_list_node_id = get_next_active_node_id(0); _param_list_node_id = get_next_active_node_id(0);
_param_list_all_nodes = true; _param_list_all_nodes = true;
PX4_INFO("UAVCAN command bridge: starting global param list with node %hhu", _param_list_node_id); PX4_DEBUG("starting global param list with node %hhu", _param_list_node_id);
if (_param_counts[_param_list_node_id] == 0) { if (_param_counts[_param_list_node_id] == 0) {
param_count(_param_list_node_id); param_count(_param_list_node_id);
@@ -427,7 +427,7 @@ UavcanServers::run(pthread_addr_t)
// Handle parameter listing index/node ID advancement // Handle parameter listing index/node ID advancement
if (_param_list_in_progress && !_param_in_progress && !_count_in_progress) { if (_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
if (_param_index >= _param_counts[_param_list_node_id]) { if (_param_index >= _param_counts[_param_list_node_id]) {
PX4_INFO("UAVCAN command bridge: completed param list for node %hhu", _param_list_node_id); PX4_DEBUG("completed param list for node %hhu", _param_list_node_id);
// Reached the end of the current node's parameter set. // Reached the end of the current node's parameter set.
_param_list_in_progress = false; _param_list_in_progress = false;
@@ -449,7 +449,7 @@ UavcanServers::run(pthread_addr_t)
// Keep on listing. // Keep on listing.
_param_index = 0; _param_index = 0;
_param_list_in_progress = true; _param_list_in_progress = true;
PX4_INFO("UAVCAN command bridge: started param list for node %hhu", _param_list_node_id); PX4_DEBUG("started param list for node %hhu", _param_list_node_id);
} }
} }
} }
@@ -466,7 +466,7 @@ UavcanServers::run(pthread_addr_t)
if (call_res < 0) { if (call_res < 0) {
_param_list_in_progress = false; _param_list_in_progress = false;
PX4_ERR("UAVCAN command bridge: couldn't send param list GetSet: %d", call_res); PX4_ERR("couldn't send param list GetSet: %d", call_res);
} else { } else {
_param_in_progress = true; _param_in_progress = true;
@@ -487,7 +487,7 @@ UavcanServers::run(pthread_addr_t)
int node_id = static_cast<int>(cmd.param2 + 0.5f); int node_id = static_cast<int>(cmd.param2 + 0.5f);
int call_res; int call_res;
PX4_INFO("UAVCAN command bridge: received UAVCAN command ID %d, node ID %d", command_id, node_id); PX4_DEBUG("received UAVCAN command ID %d, node ID %d", command_id, node_id);
switch (command_id) { switch (command_id) {
case 0: case 0:
@@ -515,7 +515,7 @@ UavcanServers::run(pthread_addr_t)
} }
default: { default: {
PX4_ERR("UAVCAN command bridge: unknown command ID %d", command_id); PX4_ERR("unknown command ID %d", command_id);
cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED; cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
break; break;
} }
@@ -525,7 +525,7 @@ UavcanServers::run(pthread_addr_t)
acknowledge = true; acknowledge = true;
int command_id = static_cast<int>(cmd.param1 + 0.5f); int command_id = static_cast<int>(cmd.param1 + 0.5f);
PX4_INFO("UAVCAN command bridge: received storage command ID %d", command_id); PX4_DEBUG("received storage command ID %d", command_id);
switch (command_id) { switch (command_id) {
case 1: { case 1: {
@@ -573,15 +573,13 @@ UavcanServers::run(pthread_addr_t)
actuator_armed_s armed; actuator_armed_s armed;
if (armed_sub.copy(&armed)) { if (armed_sub.copy(&armed)) {
if (armed.armed && !(armed.lockdown || armed.manual_lockdown)) { if (armed.armed) {
PX4_INFO("UAVCAN command bridge: system armed, exiting now."); _subnode_thread_should_exit.store(true);
} }
} }
} }
} }
_subnode_thread_should_exit = false;
return (pthread_addr_t) 0; return (pthread_addr_t) 0;
} }
@@ -612,14 +610,14 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param
if (call_res < 0) { if (call_res < 0) {
_count_in_progress = false; _count_in_progress = false;
_count_index = 0; _count_index = 0;
PX4_ERR("UAVCAN command bridge: couldn't send GetSet during param count: %d", call_res); PX4_ERR("couldn't send GetSet during param count: %d", call_res);
beep(BeepFrequencyError); beep(BeepFrequencyError);
} }
} else { } else {
_count_in_progress = false; _count_in_progress = false;
_count_index = 0; _count_index = 0;
PX4_INFO("UAVCAN command bridge: completed param count for node %hhu: %hhu", node_id, _param_counts[node_id]); PX4_DEBUG("completed param count for node %hhu: %hhu", node_id, _param_counts[node_id]);
beep(BeepFrequencyGenericIndication); beep(BeepFrequencyGenericIndication);
} }
@@ -627,7 +625,7 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param
_param_counts[node_id] = 0; _param_counts[node_id] = 0;
_count_in_progress = false; _count_in_progress = false;
_count_index = 0; _count_index = 0;
PX4_ERR("UAVCAN command bridge: GetSet error during param count"); PX4_ERR("GetSet error during param count");
} }
} else { } else {
@@ -662,7 +660,7 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param
_param_response_pub.publish(response); _param_response_pub.publish(response);
} else { } else {
PX4_ERR("UAVCAN command bridge: GetSet error"); PX4_ERR("GetSet error");
} }
_param_in_progress = false; _param_in_progress = false;
@@ -678,12 +676,12 @@ UavcanServers::param_count(uavcan::NodeID node_id)
int call_res = _param_getset_client.call(node_id, req); int call_res = _param_getset_client.call(node_id, req);
if (call_res < 0) { if (call_res < 0) {
PX4_ERR("UAVCAN command bridge: couldn't start parameter count: %d", call_res); PX4_ERR("couldn't start parameter count: %d", call_res);
} else { } else {
_count_in_progress = true; _count_in_progress = true;
_count_index = 0; _count_index = 0;
PX4_INFO("UAVCAN command bridge: starting param count"); PX4_DEBUG("starting param count");
} }
} }
@@ -695,11 +693,11 @@ UavcanServers::param_opcode(uavcan::NodeID node_id)
int call_res = _param_opcode_client.call(node_id, opcode_req); int call_res = _param_opcode_client.call(node_id, opcode_req);
if (call_res < 0) { if (call_res < 0) {
PX4_ERR("UAVCAN command bridge: couldn't send ExecuteOpcode: %d", call_res); PX4_ERR("couldn't send ExecuteOpcode: %d", call_res);
} else { } else {
_cmd_in_progress = true; _cmd_in_progress = true;
PX4_INFO("UAVCAN command bridge: sent ExecuteOpcode"); PX4_INFO("sent ExecuteOpcode");
} }
} }
@@ -713,23 +711,23 @@ UavcanServers::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param
_cmd_in_progress = false; _cmd_in_progress = false;
if (!result.isSuccessful()) { if (!result.isSuccessful()) {
PX4_ERR("UAVCAN command bridge: save request for node %hhu timed out.", node_id); PX4_ERR("save request for node %hhu timed out.", node_id);
} else if (!result.getResponse().ok) { } else if (!result.getResponse().ok) {
PX4_ERR("UAVCAN command bridge: save request for node %hhu rejected.", node_id); PX4_ERR("save request for node %hhu rejected.", node_id);
} else { } else {
PX4_INFO("UAVCAN command bridge: save request for node %hhu completed OK, restarting.", node_id); PX4_INFO("save request for node %hhu completed OK, restarting.", node_id);
uavcan::protocol::RestartNode::Request restart_req; uavcan::protocol::RestartNode::Request restart_req;
restart_req.magic_number = restart_req.MAGIC_NUMBER; restart_req.magic_number = restart_req.MAGIC_NUMBER;
int call_res = _param_restartnode_client.call(node_id, restart_req); int call_res = _param_restartnode_client.call(node_id, restart_req);
if (call_res < 0) { if (call_res < 0) {
PX4_ERR("UAVCAN command bridge: couldn't send RestartNode: %d", call_res); PX4_ERR("couldn't send RestartNode: %d", call_res);
} else { } else {
PX4_ERR("UAVCAN command bridge: sent RestartNode"); PX4_ERR("sent RestartNode");
_cmd_in_progress = true; _cmd_in_progress = true;
} }
} }
@@ -759,13 +757,13 @@ UavcanServers::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::Rest
_cmd_in_progress = false; _cmd_in_progress = false;
if (success) { if (success) {
PX4_INFO("UAVCAN command bridge: restart request for node %hhu completed OK.", node_id); PX4_DEBUG("restart request for node %hhu completed OK.", node_id);
// Clear the dirty flag // Clear the dirty flag
clear_node_params_dirty(node_id); clear_node_params_dirty(node_id);
} else { } else {
PX4_ERR("UAVCAN command bridge: restart request for node %hhu failed.", node_id); PX4_ERR("restart request for node %hhu failed.", node_id);
} }
// Get the next dirty node ID and send the same command to it // Get the next dirty node ID and send the same command to it
src/drivers/uavcan/uavcan_servers.hpp
+1 -1
View File
@@ -113,7 +113,7 @@ public:
private: private:
pthread_t _subnode_thread{-1}; pthread_t _subnode_thread{-1};
pthread_mutex_t _subnode_mutex{}; pthread_mutex_t _subnode_mutex{};
volatile bool _subnode_thread_should_exit{false}; px4::atomic_bool _subnode_thread_should_exit{false};
int init(); int init();