Revert "AP_UAVCAN: CAN Node status Log" OV3-955

This reverts commit 60be55a.
CarbonixUAV · Sep 29, 2023 · 33bb7d8 · 33bb7d8
1 parent 7c2fa9f
commit 33bb7d8
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Showing 4 changed files with 1 addition and 39 deletions.
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -103,7 +103,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
     // @Param: OPTION
     // @DisplayName: UAVCAN options
     // @Description: Option flags
-    // @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:LogNodeStatus
+    // @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
     // @User: Advanced
     AP_GROUPINFO("OPTION", 5, AP_UAVCAN, _options, 0),
 

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -206,7 +206,6 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     enum class Options : uint16_t {
         DNA_CLEAR_DATABASE        = (1U<<0),
         DNA_IGNORE_DUPLICATE_NODE = (1U<<1),
-        LOG_NODE_STATUS           = (1U<<3),
     };
 
     // check if a option is set

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
@@ -484,16 +484,6 @@ void AP_UAVCAN_DNA_Server::handleNodeStatus(uint8_t node_id, const NodeStatusCb
         return;
     }
     WITH_SEMAPHORE(sem);
-
-    //to calculate the delta b/w handlenode status pkt
-    uint32_t now = AP_HAL::native_millis();
-
-    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 , now - last_can_init_delta_ms[node_id]);
-    }
-
-    last_can_init_delta_ms[node_id] = now;
-
     if (!isNodeIDVerified(node_id)) {
         //immediately begin verification of the node_id
         for (uint8_t i = 0; i < HAL_MAX_CAN_PROTOCOL_DRIVERS; i++) {
@@ -590,29 +580,6 @@ 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, uint32_t delta)
-{
-    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," "delta", // labels
-                                "s"            "#"        "-"       "-"     "-", // units
-                                "F"            "-"        "-"       "-"     "-", // multipliers
-                                "Q"            "B"        "B"       "I"     "I", // types
-                                AP_HAL::micros64(), node_id, healthy, uptime_sec, delta);
-}
-
 //Trampoline call for handleNodeInfo member call
 void trampoline_handleNodeInfo(const uavcan::ServiceCallResult<uavcan::protocol::GetNodeInfo>& resp)
 {

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
@@ -123,10 +123,6 @@ 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, uint32_t delta);
-    uint32_t last_can_init_delta_ms[126];
 };
 
 namespace AP