UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp

2026-11-10 14:41:35 +08:00 · 2021-03-07 21:49:05 +01:00
parent d5e468a19e
commit 28c76663cd
6 changed files with 317 additions and 87 deletions
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file NodeManager.hpp
+ *
+ * Defines basic implementation of UAVCAN PNP for dynamic Node ID
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#pragma once
+
+
+#include <px4_platform_common/defines.h>
+
+#include "CanardInterface.hpp"
+
+#include <uavcan/node/ID_1_0.h>
+#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
+#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
+
+typedef struct {
+	uint8_t  node_id;
+	uint8_t  unique_id[16];
+} UavcanNodeUniqueID;
+
+class NodeManager
+{
+public:
+	NodeManager(CanardInstance &ins) : _canard_instance(ins) { };
+
+	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
+	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
+
+
+	/* TODO temporary store variables here to not break the existing code
+	 * Ideally we implement service/request classes as well and put the logic
+	 * to set registers in here as well */
+	uint8_t _node_register_setup = CANARD_NODE_ID_UNSET;
+	int32_t _node_register_request_index = 0;
+	int32_t _node_register_last_received_index = -1;
+	hrt_abstime _uavcan_pnp_nodeidallocation_last{0};
+
+private:
+	CanardInstance &_canard_instance;
+	CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
+	UavcanNodeUniqueID nodeid_registry[16] {0}; //TODO configurable or just rewrite
+};