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uavcan module cleanup

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- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
This commit is contained in:
Daniel Agar
2019-10-28 19:57:50 -04:00
committed by GitHub
parent 47dd312b57
commit 375fc4a75c
22 changed files with 705 additions and 677 deletions
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src/drivers/uavcan/uavcan_main.hpp
+59 -54
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@@ -45,6 +45,12 @@
#include <px4_config.h>
#include "uavcan_driver.hpp"
#include "uavcan_servers.hpp"
#include "allocator.hpp"
#include "actuators/esc.hpp"
#include "actuators/hardpoint.hpp"
#include "sensors/sensor_bridge.hpp"
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include <uavcan/protocol/global_time_sync_master.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp>
@@ -53,21 +59,16 @@
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp>
#include <drivers/device/device.h>
#include <perf/perf_counter.h>
#include <lib/drivers/device/device.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_direct.h>
#include "actuators/esc.hpp"
#include "actuators/hardpoint.hpp"
#include "sensors/sensor_bridge.hpp"
#include "uavcan_servers.hpp"
#include "allocator.hpp"
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/test_motor.h>
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
@@ -131,10 +132,10 @@ public:
void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
static UavcanNode *instance() { return _instance; }
static UavcanNode *instance() { return _instance; }
static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
int fw_server(eServerAction action);
void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
int list_params(int remote_node_id);
int save_params(int remote_node_id);
int set_param(int remote_node_id, const char *name, char *value);
@@ -146,42 +147,38 @@ private:
int init(uavcan::NodeID node_id);
void node_spin_once();
int run();
int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
int start_fw_server();
int stop_fw_server();
int request_fw_check();
int print_params(uavcan::protocol::param::GetSet::Response &resp);
int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
void update_params();
void set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
{
_setget_response = resp;
}
void free_setget_response(void)
{
_setget_response = nullptr;
}
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
volatile eServerAction _fw_server_action;
int _fw_server_status;
int _armed_sub = -1; ///< uORB subscription of the arming status
actuator_armed_s _armed = {}; ///< the arming request of the system
bool _is_armed = false; ///< the arming status of the actuators on the bus
void set_setget_response(uavcan::protocol::param::GetSet::Response *resp) { _setget_response = resp; }
void free_setget_response(void) { _setget_response = nullptr; }
int _test_motor_sub = -1; ///< uORB subscription of the test_motor status
test_motor_s _test_motor = {};
bool _test_in_progress = false;
int _task{-1}; ///< handle to the OS task
bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
volatile eServerAction _fw_server_action{None};
int _fw_server_status{-1};
unsigned _output_count = 0; ///< number of actuators currently available
bool _is_armed{false}; ///< the arming status of the actuators on the bus
test_motor_s _test_motor{};
bool _test_in_progress{false};
unsigned _output_count{0}; ///< number of actuators currently available
static UavcanNode *_instance; ///< singleton pointer
uavcan_node::Allocator _pool_allocator;
uavcan::Node<> _node; ///< library instance
pthread_mutex_t _node_mutex;
pthread_mutex_t _node_mutex{};
px4_sem_t _server_command_sem;
UavcanEscController _esc_controller;
UavcanHardpointController _hardpoint_controller;
@@ -191,44 +188,52 @@ private:
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
MixerGroup *_mixers = nullptr;
ITxQueueInjector *_tx_injector;
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
unsigned _poll_fds_num = 0;
int32_t _idle_throttle_when_armed = 0;
MixerGroup *_mixers{nullptr};
ITxQueueInjector *_tx_injector{nullptr};
int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num = 0;
actuator_direct_s _actuator_direct = {};
uint32_t _groups_required{0};
uint32_t _groups_subscribed{0};
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] {};
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] {};
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] {};
unsigned _poll_fds_num{0};
int32_t _idle_throttle_when_armed{0};
actuator_outputs_s _outputs = {};
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _test_motor_sub{ORB_ID(test_motor)};
perf_counter_t _perf_control_latency;
int _actuator_direct_sub{-1}; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num{0};
Mixer::Airmode _airmode = Mixer::Airmode::disabled;
float _thr_mdl_factor = 0.0f;
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _control_latency_perf;
Mixer::Airmode _airmode{Mixer::Airmode::disabled};
float _thr_mdl_factor{0.0f};
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] {};
void handle_time_sync(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;
uavcan::TimerEventForwarder<TimerCallback> _master_timer;
bool _callback_success;
uavcan::protocol::param::GetSet::Response *_setget_response;
bool _callback_success{false};
uavcan::protocol::param::GetSet::Response *_setget_response{nullptr};
typedef uavcan::MethodBinder<UavcanNode *,
void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
typedef uavcan::MethodBinder<UavcanNode *,
void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> ExecuteOpcodeCallback;
typedef uavcan::MethodBinder<UavcanNode *,
void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
void cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);