From f0c813e9220a131d40c0942abd1642a73957ebdb Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Mon, 12 Jul 2021 11:45:35 +0200
Subject: [PATCH] reduce spam in case of reading of EtherCAT error counters
(SR/FR)
---
source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
index ac5fe6828..bb239e656 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
@@ -785,7 +785,7 @@ void EtherCAT::readErrorCounters()
//not used, only confusing info...
//uint16_t configAddr = ecx_APRDw(ecx_context.port, ADPh, ECT_REG_STADR, 100000);
- for (int i = 0; i < 4; i++)
+ for (int i = 0; i < 2; i++)
{
// Error handling taken from
@@ -809,14 +809,14 @@ void EtherCAT::readErrorCounters()
}
else if (ret1 > 0 && ret2 > 0 && ret3 > 0 && ret4 > 0)
{
- ARMARX_INFO << "no errors for Slavenumber " << slaveIndex << " port:" << i << "\tname: " << name;
+ ARMARX_DEBUG << "no errors for Slavenumber " << slaveIndex << " port:" << i << "\tname: " << name;
}
}
IceUtil::Time elapsed = (IceUtil::Time::now(IceUtil::Time::Monotonic) - start);
if (elapsed.toMilliSeconds() > 10)
{
updatePDO();
- ARMARX_INFO << "Updated BUS to prevent timeout, " << elapsed << " has passed since last bus update.";
+ ARMARX_DEBUG << "Updated BUS to prevent timeout, " << elapsed << " has passed since last bus update.";
start = IceUtil::Time::now(IceUtil::Time::Monotonic);
}
}
--
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