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WIP: AP_UAVCAN_DNA: add CANH health logging message #20586

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WIP: AP_UAVCAN_DNA: add CANH health logging message #20586

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2 changes: 1 addition & 1 deletion libraries/AP_UAVCAN/AP_UAVCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
// @Param: OPTION
// @DisplayName: UAVCAN options
// @Description: Option flags
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:LogNodeStatus
// @User: Advanced
AP_GROUPINFO("OPTION", 5, AP_UAVCAN, _options, 0),

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1 change: 1 addition & 0 deletions libraries/AP_UAVCAN/AP_UAVCAN.h
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Expand Up @@ -200,6 +200,7 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
DNA_CLEAR_DATABASE = (1U<<0),
DNA_IGNORE_DUPLICATE_NODE = (1U<<1),
CANFD_ENABLED = (1U<<2),
LOG_NODE_STATUS = (1U<<3),
};

// check if a option is set
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28 changes: 28 additions & 0 deletions libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
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Expand Up @@ -484,6 +484,11 @@ void AP_UAVCAN_DNA_Server::handleNodeStatus(uint8_t node_id, const NodeStatusCb
return;
}
WITH_SEMAPHORE(sem);

if (_ap_uavcan->option_is_set(AP_UAVCAN::Options::LOG_NODE_STATUS)) {
log_NodeStatus(node_id, cb.msg->uptime_sec, cb.msg->health, cb.msg->mode);
}

if (!isNodeIDVerified(node_id)) {
//immediately begin verification of the node_id
for (uint8_t i = 0; i < HAL_MAX_CAN_PROTOCOL_DRIVERS; i++) {
Expand Down Expand Up @@ -580,6 +585,29 @@ void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[],
}
}

/*
optionally log NodeStatus packets
*/
void AP_UAVCAN_DNA_Server::log_NodeStatus(uint8_t node_id, uint32_t uptime_sec, uint8_t healthy, uint8_t mode)
{
if (node_id > MAX_NODE_ID) {
return;
}

// @LoggerMessage: CANH
// @Description: CAN Health Status
// @Field: TimeUS: Time since system startup
// @Field: NodeID: Node ID
// @Field: Healthy: zero when node healthy
// @Field: UpTime: time since boot in seconds
AP::logger().WriteStreaming("CANH",
"TimeUS," "NodeID," "Healthy," "UpTime", // labels
"s" "#" "-" "-", // units
"F" "-" "-" "-", // multipliers
"Q" "B" "B" "I", // types
AP_HAL::micros64(), node_id, healthy, uptime_sec);
}

//Trampoline call for handleNodeInfo member call
void trampoline_handleNodeInfo(const uavcan::ServiceCallResult<uavcan::protocol::GetNodeInfo>& resp)
{
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3 changes: 3 additions & 0 deletions libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
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Expand Up @@ -124,6 +124,9 @@ class AP_UAVCAN_DNA_Server

//Run through the list of seen node ids for verification
void verify_nodes(AP_UAVCAN *ap_uavcan);

// Log NodeInfo
void log_NodeStatus(uint8_t node_id, uint32_t uptime_sec, uint8_t healthy, uint8_t mode);
};

namespace AP
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