Diagnose up-to 10 batteries #1711

amilcarlucas · 2022-02-17T18:24:48Z

I am open to suggestions to avoid the third commit

amilcarlucas · 2022-02-17T19:55:09Z

Tested to work in hardware, but I do not like the third commit, for obvious reasons.

amilcarlucas · 2022-02-18T12:22:01Z

@vooon can you help me out here?

vooon · 2022-02-18T12:28:15Z

I think emplace should construct object, so you should only provide constructor arguments. Also for single-arg it's recommended to use explicit keyword.
Mutex makes class non-copyable, so that's the reason, but what if we use move-semantics?

Also can we use std::unordered_map<id, diag> instead of vector, so we won't be limited by 10 bats.

amilcarlucas · 2022-02-18T13:23:45Z

Thanks, but the error is still there:

/usr/include/c++/7/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = mavros::std_plugins::BatteryStatusDiag; _Args = {mavros::std_plugins::BatteryStatusDiag}; _Tp = mavros::std_plugins::BatteryStatusDiag]’:
/usr/include/c++/7/bits/alloc_traits.h:475:4:   required from ‘static void std::allocator_traits<std::allocator<_CharT> >::construct(std::allocator_traits<std::allocator<_CharT> >::allocator_type&, _Up*, _Args&& ...) [with _Up = mavros::std_plugins::BatteryStatusDiag; _Args = {mavros::std_plugins::BatteryStatusDiag}; _Tp = mavros::std_plugins::BatteryStatusDiag; std::allocator_traits<std::allocator<_CharT> >::allocator_type = std::allocator<mavros::std_plugins::BatteryStatusDiag>]’
/usr/include/c++/7/bits/vector.tcc:100:30:   required from ‘void std::vector<_Tp, _Alloc>::emplace_back(_Args&& ...) [with _Args = {mavros::std_plugins::BatteryStatusDiag}; _Tp = mavros::std_plugins::BatteryStatusDiag; _Alloc = std::allocator<mavros::std_plugins::BatteryStatusDiag>]’
..../mavros/mavros/src/plugins/sys_status.cpp:455:65:   required from here
/usr/include/c++/7/ext/new_allocator.h:136:4: error: use of deleted function ‘mavros::std_plugins::BatteryStatusDiag::BatteryStatusDiag(mavros::std_plugins::BatteryStatusDiag&&)’
  { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
..../mavros/mavros/src/plugins/sys_status.cpp:286:7: note: ‘mavros::std_plugins::BatteryStatusDiag::BatteryStatusDiag(mavros::std_plugins::BatteryStatusDiag&&)’ is implicitly deleted because the default definition would be ill-formed:
 class BatteryStatusDiag : public diagnostic_updater::DiagnosticTask
       ^~~~~~~~~~~~~~~~~
..../mavros/mavros/src/plugins/sys_status.cpp:286:7: error: use of deleted function ‘std::mutex::mutex(const std::mutex&)’
In file included from /usr/include/c++/7/mutex:43:0,
                 from ..../mavros/libmavconn/include/mavconn/interface.h:27,
                 from ..../mavros/mavros/include/mavros/mavros_plugin.h:24,
                 from ..../mavros/mavros/src/plugins/sys_status.cpp:17:
/usr/include/c++/7/bits/std_mutex.h:97:5: note: declared here
     mutex(const mutex&) = delete;
     ^~~~~
In file included from /usr/include/c++/7/vector:62:0,
                 from ..../mavros/mavros/include/mavros/mavros_plugin.h:21,
                 from ..../mavros/mavros/src/plugins/sys_status.cpp:17:
/usr/include/c++/7/bits/stl_construct.h: In instantiation of ‘void std::_Construct(_T1*, _Args&& ...) [with _T1 = mavros::std_plugins::BatteryStatusDiag; _Args = {mavros::std_plugins::BatteryStatusDiag}]’:
/usr/include/c++/7/bits/stl_uninitialized.h:83:18:   required from ‘static _ForwardIterator std::__uninitialized_copy<_TrivialValueTypes>::__uninit_copy(_InputIterator, _InputIterator, _ForwardIterator) [with _InputIterator = std::move_iterator<mavros::std_plugins::BatteryStatusDiag*>; _ForwardIterator = mavros::std_plugins::BatteryStatusDiag*; bool _TrivialValueTypes = false]’
/usr/include/c++/7/bits/stl_uninitialized.h:134:15:   required from ‘_ForwardIterator std::uninitialized_copy(_InputIterator, _InputIterator, _ForwardIterator) [with _InputIterator = std::move_iterator<mavros::std_plugins::BatteryStatusDiag*>; _ForwardIterator = mavros::std_plugins::BatteryStatusDiag*]’
/usr/include/c++/7/bits/stl_uninitialized.h:289:37:   required from ‘_ForwardIterator std::__uninitialized_copy_a(_InputIterator, _InputIterator, _ForwardIterator, std::allocator<_Tp>&) [with _InputIterator = std::move_iterator<mavros::std_plugins::BatteryStatusDiag*>; _ForwardIterator = mavros::std_plugins::BatteryStatusDiag*; _Tp = mavros::std_plugins::BatteryStatusDiag]’
/usr/include/c++/7/bits/stl_vector.h:1263:35:   required from ‘std::vector<_Tp, _Alloc>::pointer std::vector<_Tp, _Alloc>::_M_allocate_and_copy(std::vector<_Tp, _Alloc>::size_type, _ForwardIterator, _ForwardIterator) [with _ForwardIterator = std::move_iterator<mavros::std_plugins::BatteryStatusDiag*>; _Tp = mavros::std_plugins::BatteryStatusDiag; _Alloc = std::allocator<mavros::std_plugins::BatteryStatusDiag>; std::vector<_Tp, _Alloc>::pointer = mavros::std_plugins::BatteryStatusDiag*; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/usr/include/c++/7/bits/vector.tcc:73:40:   required from ‘void std::vector<_Tp, _Alloc>::reserve(std::vector<_Tp, _Alloc>::size_type) [with _Tp = mavros::std_plugins::BatteryStatusDiag; _Alloc = std::allocator<mavros::std_plugins::BatteryStatusDiag>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
..../mavros/mavros/src/plugins/sys_status.cpp:454:42:   required from here
/usr/include/c++/7/bits/stl_construct.h:75:7: error: use of deleted function ‘mavros::std_plugins::BatteryStatusDiag::BatteryStatusDiag(mavros::std_plugins::BatteryStatusDiag&&)’
     { ::new(static_cast<void*>(__p)) _T1(std::forward<_Args>(__args)...); }
       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/7/functional:58:0,
                 from ..../mavros/mavros/include/mavros/mavros_plugin.h:22,
                 from ..../mavros/mavros/src/plugins/sys_status.cpp:17:
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::minimal::msg::HEARTBEAT; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::minimal::msg::HEARTBEAT; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
       function<_Res(_ArgTypes...)>::
       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::SYS_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::SYS_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::STATUSTEXT; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::STATUSTEXT; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::ardupilotmega::msg::MEMINFO; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::ardupilotmega::msg::MEMINFO; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::ardupilotmega::msg::HWSTATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::ardupilotmega::msg::HWSTATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::AUTOPILOT_VERSION; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::AUTOPILOT_VERSION; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::EXTENDED_SYS_STATE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::EXTENDED_SYS_STATE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::BATTERY_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::BATTERY_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]
/usr/include/c++/7/bits/std_function.h:685:7: error: ‘std::function<_Res(_ArgTypes ...)>::function(_Functor) [with _Functor = mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::ESTIMATOR_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>; <template-parameter-2-2> = void; <template-parameter-2-3> = void; _Res = void; _ArgTypes = {const mavlink::__mavlink_message*, mavconn::Framing}]’, declared using local type ‘mavros::plugin::PluginBase::make_handler(void (_C::*)(const mavlink_message_t*, _T&)) [with _C = mavros::std_plugins::SystemStatusPlugin; _T = mavlink::common::msg::ESTIMATOR_STATUS; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message]::<lambda(const mavlink_message_t*, mavconn::Framing)>’, is used but never defined [-fpermissive]

vooon · 2022-02-18T13:59:19Z

I'll try to implement my thoughts, but that might take more than weekend.

amilcarlucas · 2022-02-18T14:22:46Z

Thanks @vooon

amilcarlucas · 2022-02-18T17:30:27Z

Nevermind, I have fixed and tested it to run fine. I have multiple batteries with running mutexes now!

vooon

LGTM, Thanks!

amilcarlucas · 2022-02-21T11:49:23Z

No clue why CI is complaining on this one.

Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file

amilcarlucas · 2022-02-21T12:51:18Z

OK, CI fixed :)

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch from 6b5bb8a to abd53a4 Compare February 17, 2022 19:43

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch from abd53a4 to 4cf4f02 Compare February 18, 2022 13:21

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch from e08cfba to ab11040 Compare February 18, 2022 16:34

amilcarlucas requested a review from vooon February 19, 2022 11:37

vooon approved these changes Feb 21, 2022

View reviewed changes

vooon added this to the Version 1.14 milestone Feb 21, 2022

vooon added enhancement plugin labels Feb 21, 2022

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch 2 times, most recently from 52af6dc to 56b695f Compare February 21, 2022 11:02

vooon closed this Feb 21, 2022

vooon reopened this Feb 21, 2022

sys_status.cpp: support diagnostics on up-to 10 batteries

1b38e9a

Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch from 56b695f to 866e807 Compare February 21, 2022 12:20

amilcarlucas added 2 commits February 21, 2022 13:38

sys_status.cpp: fix compilation

055bfb7

*_config.yaml: document usage of multiple batteries diagnostics

92b40f5

amilcarlucas force-pushed the diagnose-up-to-n-batteries branch from 866e807 to 92b40f5 Compare February 21, 2022 12:38

vooon merged commit 628f1cc into mavlink:master Feb 21, 2022

amilcarlucas deleted the diagnose-up-to-n-batteries branch February 21, 2022 15:13

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Diagnose up-to 10 batteries #1711

Diagnose up-to 10 batteries #1711

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Diagnose up-to 10 batteries #1711

Diagnose up-to 10 batteries #1711

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