From fb9fb9bdf03ac9c2ab815f17357461593ee7f609 Mon Sep 17 00:00:00 2001
From: Timo <timoschneider04@gmail.com>
Date: Sun, 31 Aug 2025 12:25:02 +0200
Subject: [PATCH] reduced logging

---
 .../microros_transports/fdcan/microros_transports.c           | 4 ++++
 src/microros/subscribers/led0/led0_subscriber.cpp             | 2 +-
 src/microros/subscribers/led1/led1_subscriber.cpp             | 2 +-
 src/microros/subscribers/led2/led2_subscriber.cpp             | 2 +-
 src/microros/subscribers/servo0/servo0_subscriber.cpp         | 4 +++-
 5 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/modules/libmicroros/microros_transports/fdcan/microros_transports.c b/modules/libmicroros/microros_transports/fdcan/microros_transports.c
index 7620023..6c53d99 100644
--- a/modules/libmicroros/microros_transports/fdcan/microros_transports.c
+++ b/modules/libmicroros/microros_transports/fdcan/microros_transports.c
@@ -50,11 +50,13 @@ static void can_rx_handler(const struct device *dev, struct can_frame *frame, vo
     
     ring_buf_put(&in_ringbuf, msg->data, MIN(ring_buf_space_get(&in_ringbuf), msg->len));
 
+    /*
     printf("RX: ");
     for (size_t i = 0; i < msg->len; i++) {
         printf("%02X ", msg->data[i]);
     }
     printf(" / %i\n", msg->len);
+    */
 }
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
@@ -112,11 +114,13 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
     
     can_send(params->uart_dev, &frame, K_NO_WAIT, NULL, NULL);
 
+    /*
     printf("TX: ");
     for (size_t i = 0; i < len; i++) {
         printf("%02X ", msg->data[i]);
     }
     printf(" / %i\n", msg->len);
+    */
 
     return len;
 }
diff --git a/src/microros/subscribers/led0/led0_subscriber.cpp b/src/microros/subscribers/led0/led0_subscriber.cpp
index 528cd1b..1b8ea10 100644
--- a/src/microros/subscribers/led0/led0_subscriber.cpp
+++ b/src/microros/subscribers/led0/led0_subscriber.cpp
@@ -11,7 +11,7 @@ std_msgs__msg__Bool led0_msg;
 void led0_callback(const void *msgin){
     const std_msgs__msg__Bool *msg = (const std_msgs__msg__Bool *)msgin;
 
-    printk("Set led0 to %s\n", msg->data ? "on" : "off");
+    //printk("Set led0 to %s\n", msg->data ? "on" : "off");
     gpio_pin_configure_dt(&led0, msg->data ? GPIO_OUTPUT_ACTIVE : GPIO_OUTPUT_INACTIVE);
 }
 
diff --git a/src/microros/subscribers/led1/led1_subscriber.cpp b/src/microros/subscribers/led1/led1_subscriber.cpp
index cee27ae..97dabba 100644
--- a/src/microros/subscribers/led1/led1_subscriber.cpp
+++ b/src/microros/subscribers/led1/led1_subscriber.cpp
@@ -11,7 +11,7 @@ std_msgs__msg__Bool led1_msg;
 void led1_callback(const void *msgin){
     const std_msgs__msg__Bool *msg = (const std_msgs__msg__Bool *)msgin;
 
-    printk("Set led1 to %s\n", msg->data ? "on" : "off");
+    //printk("Set led1 to %s\n", msg->data ? "on" : "off");
     gpio_pin_configure_dt(&led1, msg->data ? GPIO_OUTPUT_ACTIVE : GPIO_OUTPUT_INACTIVE);
 }
 
diff --git a/src/microros/subscribers/led2/led2_subscriber.cpp b/src/microros/subscribers/led2/led2_subscriber.cpp
index c1c7aa1..808dcc2 100644
--- a/src/microros/subscribers/led2/led2_subscriber.cpp
+++ b/src/microros/subscribers/led2/led2_subscriber.cpp
@@ -11,7 +11,7 @@ std_msgs__msg__Bool led2_msg;
 void led2_callback(const void *msgin){
     const std_msgs__msg__Bool *msg = (const std_msgs__msg__Bool *)msgin;
 
-    printk("Set led2 to %s\n", msg->data ? "on" : "off");
+    //printk("Set led2 to %s\n", msg->data ? "on" : "off");
     gpio_pin_configure_dt(&led2, msg->data ? GPIO_OUTPUT_ACTIVE : GPIO_OUTPUT_INACTIVE);
 }
 
diff --git a/src/microros/subscribers/servo0/servo0_subscriber.cpp b/src/microros/subscribers/servo0/servo0_subscriber.cpp
index 3c9595d..0e18766 100644
--- a/src/microros/subscribers/servo0/servo0_subscriber.cpp
+++ b/src/microros/subscribers/servo0/servo0_subscriber.cpp
@@ -23,15 +23,17 @@ void servo_callback(const void *msgin){
     
     uint32_t pulse_ns = min_pulse_ns + (angle / 180.0f) * (max_pulse_ns - min_pulse_ns);
 
-    printk("Set servo to %d.%d° = %d.%d ms°\n", int(angle), int(angle * 100) % 100, pulse_ns / 1000000, (pulse_ns / 1000) % 1000);
+    //printk("Set servo to %d.%d° = %d.%d ms°\n", int(angle), int(angle * 100) % 100, pulse_ns / 1000000, (pulse_ns / 1000) % 1000);
 
     int ret = pwm_set_pulse_dt(&servo0, pulse_ns);
 
+    /*
     if (ret == 0) {
         printk("PWM pulse set successfully.\n");
     } else {
         printk("Failed to set PWM pulse! Error: %d\n", ret);
     }
+    */
 }