Changeset 254 in flair-src

Timestamp:

Jul 16, 2018, 3:36:47 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

change watchdog timeout with gcs
remove unnecessary messages on bldc

Location:

trunk

Files:

• lib/FlairCore/src/FrameworkManager.h (modified) (1 diff)
• lib/FlairCore/src/FrameworkManager_impl.cpp (modified) (2 diffs)
• lib/FlairCore/src/unexported/FrameworkManager_impl.h (modified) (1 diff)
• lib/FlairSensorActuator/src/Bldc_impl.cpp (modified) (2 diffs)
• tools/FlairGCS/src/UdtSocket.cpp (modified) (1 diff)

trunk/lib/FlairCore/src/FrameworkManager.h

@@ -77 +77 @@
   * \param rcv_buf_size receive buffer size
   */
-  void SetupConnection(std::string address, uint16_t port,Time watchdogTimeout=(Time)1000000000,
+  void SetupConnection(std::string address, uint16_t port,Time watchdogTimeout=(Time)1500000000,
                        size_t rcv_buf_size = 10000);
 

trunk/lib/FlairCore/src/FrameworkManager_impl.cpp

@@ -139 +139 @@
 }
 
-void FrameworkManager_impl::ConnectionLost(void) {
+void FrameworkManager_impl::SetConnectionLost(void) {
   Err("connection lost\n");
   if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
@@ -241 +241 @@
   // watchdog for connection with ground station
   connection_lost = false;
-  gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::ConnectionLost, this),watchdogTimeout);
+  gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::SetConnectionLost, this),watchdogTimeout);
   gcs_watchdog->Start();
 }

trunk/lib/FlairCore/src/unexported/FrameworkManager_impl.h

@@ -125 +125 @@
   std::vector<std::string> xml_changes;
   flair::core::Watchdog *gcs_watchdog;
-  void ConnectionLost(void);
+  void SetConnectionLost(void);
 };
 

trunk/lib/FlairSensorActuator/src/Bldc_impl.cpp

@@ -123 +123 @@
   input->GetMutex();
   for (int i = 0; i < motors_count; i++) {
-    if (input->ValueNoMutex(i, 0) != 0)
-      is_motor_running = true;
     if (are_enabled) {
       // Printf("%i %f %f\n",i,input->ValueNoMutex(i,0),power[i]);
@@ -132 +130 @@
       values[i] = 0;
     }
+    if(values[i] != 0) is_motor_running = true;
   }
   input->ReleaseMutex();

trunk/tools/FlairGCS/src/UdtSocket.cpp

@@ -67 +67 @@
 void UdtSocket::heartbeat(void) {
   char data = WATCHDOG_HEADER;
-  quint64 sent=write(&data, 1,HEARTBEAT_TIMER,false);
+  quint64 sent=write(&data, 1,HEARTBEAT_TIMER,true);
   if (sent != 1 && UDT::getlasterror().getErrorCode() == 2001) {
     heartbeat_timer->stop();