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MEMINFO fixes #1732

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merged 1 commit into from
Apr 14, 2022
Merged

MEMINFO fixes #1732

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12 changes: 6 additions & 6 deletions mavros/src/plugins/sys_status.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -375,12 +375,12 @@ class MemInfo : public diagnostic_updater::DiagnosticTask
public:
MemInfo(const std::string &name) :
diagnostic_updater::DiagnosticTask(name),
freemem(-1),
freemem(UINT32_MAX),
brkval(0),
last_rcd(0)
{ }

void set(uint16_t f, uint16_t b) {
void set(uint32_t f, uint16_t b) {
freemem = f;
brkval = b;
last_rcd = ros::Time::now().toNSec();
Expand All @@ -389,7 +389,7 @@ class MemInfo : public diagnostic_updater::DiagnosticTask
void run(diagnostic_updater::DiagnosticStatusWrapper &stat)
{
// access atomic variables just once
ssize_t freemem_ = freemem;
size_t freemem_ = freemem;
uint16_t brkval_ = brkval;
ros::Time last_rcd_;
last_rcd_.fromNSec(last_rcd.load());
Expand All @@ -401,7 +401,7 @@ class MemInfo : public diagnostic_updater::DiagnosticTask
} else if (ros::Time::now().toSec() - last_rcd_.toSec() > timeout) {
stat.summary(diagnostic_msgs::DiagnosticStatus::STALE, "Not received for more than " + std::to_string(timeout) + "s");
} else {
if (freemem < 0)
if (freemem == UINT32_MAX)
stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No data");
else if (freemem < 200)
stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Low mem");
Expand All @@ -413,7 +413,7 @@ class MemInfo : public diagnostic_updater::DiagnosticTask
}

private:
std::atomic<ssize_t> freemem;
std::atomic<size_t> freemem;
std::atomic<uint16_t> brkval;
std::atomic<uint64_t> last_rcd;
};
Expand Down Expand Up @@ -876,7 +876,7 @@ class SystemStatusPlugin : public plugin::PluginBase

void handle_meminfo(const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::MEMINFO &mem)
{
mem_diag.set(mem.freemem, mem.brkval);
mem_diag.set(std::max(static_cast<uint32_t>(mem.freemem), mem.freemem32), mem.brkval);
}

void handle_hwstatus(const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::HWSTATUS &hwst)
Expand Down