mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:33:34 +08:00
uavcan module cleanup
- 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
@@ -60,11 +60,9 @@
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/uavcan_parameter_request.h>
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#include <uORB/topics/uavcan_parameter_value.h>
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#include <v2.0/common/mavlink.h>
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/**
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* @file uavcan_servers.cpp
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*
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@@ -78,8 +76,8 @@
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* UavcanNode
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*/
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UavcanServers *UavcanServers::_instance;
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UavcanServers::UavcanServers(uavcan::INode &main_node) :
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_subnode_thread(-1),
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_vdriver(NumIfaces, UAVCAN_DRIVER::SystemClock::instance(), main_node.getAllocator(), VirtualIfaceBlockAllocationQuota),
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_subnode(_vdriver, UAVCAN_DRIVER::SystemClock::instance(), main_node.getAllocator()),
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_main_node(main_node),
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@@ -96,7 +94,6 @@ UavcanServers::UavcanServers(uavcan::INode &main_node) :
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_enumeration_client(_subnode),
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_enumeration_getset_client(_subnode),
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_enumeration_save_client(_subnode)
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{
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}
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@@ -109,17 +106,18 @@ UavcanServers::~UavcanServers()
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_main_node.getDispatcher().removeRxFrameListener();
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}
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int UavcanServers::stop()
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int
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UavcanServers::stop()
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{
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UavcanServers *server = instance();
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if (server == nullptr) {
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warnx("Already stopped");
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PX4_INFO("Already stopped");
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return -1;
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}
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if (server->_subnode_thread) {
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warnx("stopping fw srv thread...");
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PX4_INFO("stopping fw srv thread...");
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server->_subnode_thread_should_exit = true;
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(void)pthread_join(server->_subnode_thread, NULL);
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}
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@@ -132,10 +130,11 @@ int UavcanServers::stop()
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return 0;
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}
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int UavcanServers::start(uavcan::INode &main_node)
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int
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UavcanServers::start(uavcan::INode &main_node)
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{
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if (_instance != nullptr) {
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warnx("Already started");
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PX4_INFO("Already started");
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return -1;
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}
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@@ -145,14 +144,14 @@ int UavcanServers::start(uavcan::INode &main_node)
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_instance = new UavcanServers(main_node);
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if (_instance == nullptr) {
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warnx("Out of memory");
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PX4_ERR("Out of memory");
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return -2;
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}
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int rv = _instance->init();
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int rv = _instance->init();
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if (rv < 0) {
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warnx("Node init failed: %d", rv);
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PX4_ERR("Node init failed: %d", rv);
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delete _instance;
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_instance = nullptr;
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return rv;
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@@ -170,7 +169,7 @@ int UavcanServers::start(uavcan::INode &main_node)
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param.sched_priority = Priority;
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if (pthread_attr_setschedparam(&tattr, ¶m)) {
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warnx("setting sched params failed");
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PX4_ERR("setting sched params failed");
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}
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static auto run_trampoline = [](void *) {return UavcanServers::_instance->run(_instance);};
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@@ -179,7 +178,7 @@ int UavcanServers::start(uavcan::INode &main_node)
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if (rv != 0) {
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rv = -rv;
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warnx("pthread_create() failed: %d", rv);
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PX4_ERR("pthread_create() failed: %d", rv);
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delete _instance;
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_instance = nullptr;
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}
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@@ -187,7 +186,8 @@ int UavcanServers::start(uavcan::INode &main_node)
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return rv;
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}
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int UavcanServers::init()
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int
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UavcanServers::init()
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{
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errno = 0;
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@@ -195,11 +195,10 @@ int UavcanServers::init()
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* Initialize the mutex.
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* giving it its path
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*/
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int ret = Lock::init(_subnode_mutex);
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if (ret < 0) {
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warnx("Lock init: %d", errno);
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PX4_ERR("Lock init: %d", errno);
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return ret;
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}
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@@ -208,7 +207,6 @@ int UavcanServers::init()
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_subnode.setNodeID(_main_node.getNodeID());
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_main_node.getDispatcher().installRxFrameListener(&_vdriver);
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/*
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* Initialize the fw version checker.
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* giving it its path
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@@ -216,7 +214,7 @@ int UavcanServers::init()
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ret = _fw_version_checker.createFwPaths(UAVCAN_FIRMWARE_PATH);
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if (ret < 0) {
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warnx("FirmwareVersionChecker init: %d, errno: %d", ret, errno);
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PX4_ERR("FirmwareVersionChecker init: %d, errno: %d", ret, errno);
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return ret;
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}
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@@ -225,7 +223,7 @@ int UavcanServers::init()
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ret = _fw_server.start();
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if (ret < 0) {
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warnx("BasicFileServer init: %d, errno: %d", ret, errno);
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PX4_ERR("BasicFileServer init: %d, errno: %d", ret, errno);
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return ret;
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}
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@@ -234,7 +232,7 @@ int UavcanServers::init()
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ret = _storage_backend.init(UAVCAN_NODE_DB_PATH);
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if (ret < 0) {
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warnx("FileStorageBackend init: %d, errno: %d", ret, errno);
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PX4_ERR("FileStorageBackend init: %d, errno: %d", ret, errno);
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return ret;
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}
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@@ -243,7 +241,7 @@ int UavcanServers::init()
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ret = _tracer.init(UAVCAN_LOG_FILE);
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if (ret < 0) {
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warnx("FileEventTracer init: %d, errno: %d", ret, errno);
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PX4_ERR("FileEventTracer init: %d, errno: %d", ret, errno);
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return ret;
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}
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@@ -255,34 +253,32 @@ int UavcanServers::init()
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ret = _server_instance.init(hwver.unique_id);
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if (ret < 0) {
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warnx("CentralizedServer init: %d", ret);
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PX4_ERR("CentralizedServer init: %d", ret);
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return ret;
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}
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/* Start node info retriever to fetch node info from new nodes */
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ret = _node_info_retriever.start();
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if (ret < 0) {
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warnx("NodeInfoRetriever init: %d", ret);
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PX4_ERR("NodeInfoRetriever init: %d", ret);
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return ret;
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}
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/* Start the fw version checker */
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ret = _fw_upgrade_trigger.start(_node_info_retriever, _fw_version_checker.getFirmwarePath());
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if (ret < 0) {
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warnx("FirmwareUpdateTrigger init: %d", ret);
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PX4_ERR("FirmwareUpdateTrigger init: %d", ret);
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return ret;
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}
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/* Start the Node */
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return 0;
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}
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pthread_addr_t UavcanServers::run(pthread_addr_t)
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pthread_addr_t
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UavcanServers::run(pthread_addr_t)
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{
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prctl(PR_SET_NAME, "uavcan fw srv", 0);
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@@ -296,9 +292,9 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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/* the subscribe call needs to happen in the same thread,
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* so not in the constructor */
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int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
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int param_request_sub = orb_subscribe(ORB_ID(uavcan_parameter_request));
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int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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uORB::Subscription armed_sub{ORB_ID(actuator_armed)};
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uORB::Subscription vcmd_sub{ORB_ID(vehicle_command)};
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uORB::Subscription param_request_sub{ORB_ID(uavcan_parameter_request)};
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/* Set up shared service clients */
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_param_getset_client.setCallback(GetSetCallback(this, &UavcanServers::cb_getset));
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@@ -326,16 +322,13 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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const int spin_res = _subnode.spin(uavcan::MonotonicDuration::fromMSec(10));
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if (spin_res < 0) {
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warnx("node spin error %i", spin_res);
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PX4_ERR("node spin error %i", spin_res);
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}
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// Check for parameter requests (get/set/list)
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bool param_request_ready;
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orb_check(param_request_sub, ¶m_request_ready);
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if (param_request_ready && !_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
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struct uavcan_parameter_request_s request;
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orb_copy(ORB_ID(uavcan_parameter_request), param_request_sub, &request);
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if (param_request_sub.updated() && !_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
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uavcan_parameter_request_s request{};
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param_request_sub.copy(&request);
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if (_param_counts[request.node_id]) {
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/*
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@@ -355,7 +348,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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int call_res = _param_getset_client.call(request.node_id, req);
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if (call_res < 0) {
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warnx("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
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PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
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} else {
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_param_in_progress = true;
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@@ -388,7 +381,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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int call_res = _param_getset_client.call(request.node_id, req);
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if (call_res < 0) {
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warnx("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
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PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res);
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} else {
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_param_in_progress = true;
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@@ -402,7 +395,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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_param_list_node_id = request.node_id;
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_param_list_all_nodes = false;
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warnx("UAVCAN command bridge: starting component-specific param list");
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PX4_INFO("UAVCAN command bridge: starting component-specific param list");
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}
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} else if (request.node_id == MAV_COMP_ID_ALL) {
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@@ -416,7 +409,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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_param_list_node_id = get_next_active_node_id(0);
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_param_list_all_nodes = true;
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warnx("UAVCAN command bridge: starting global param list with node %hhu", _param_list_node_id);
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PX4_INFO("UAVCAN command bridge: starting global param list with node %hhu", _param_list_node_id);
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if (_param_counts[_param_list_node_id] == 0) {
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param_count(_param_list_node_id);
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@@ -435,7 +428,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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// Handle parameter listing index/node ID advancement
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if (_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
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if (_param_index >= _param_counts[_param_list_node_id]) {
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warnx("UAVCAN command bridge: completed param list for node %hhu", _param_list_node_id);
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PX4_INFO("UAVCAN command bridge: completed param list for node %hhu", _param_list_node_id);
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// Reached the end of the current node's parameter set.
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_param_list_in_progress = false;
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@@ -457,7 +450,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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// Keep on listing.
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_param_index = 0;
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_param_list_in_progress = true;
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warnx("UAVCAN command bridge: started param list for node %hhu", _param_list_node_id);
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PX4_INFO("UAVCAN command bridge: started param list for node %hhu", _param_list_node_id);
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}
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}
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}
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@@ -474,7 +467,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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if (call_res < 0) {
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_param_list_in_progress = false;
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warnx("UAVCAN command bridge: couldn't send param list GetSet: %d", call_res);
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PX4_ERR("UAVCAN command bridge: couldn't send param list GetSet: %d", call_res);
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} else {
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_param_in_progress = true;
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@@ -482,12 +475,9 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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}
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// Check for ESC enumeration commands
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bool cmd_ready;
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orb_check(cmd_sub, &cmd_ready);
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if (cmd_ready && !_cmd_in_progress) {
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struct vehicle_command_s cmd;
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orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
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if (vcmd_sub.updated() && !_cmd_in_progress) {
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vehicle_command_s cmd{};
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vcmd_sub.copy(&cmd);
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uint8_t cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
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@@ -496,7 +486,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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int node_id = static_cast<int>(cmd.param2 + 0.5f);
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int call_res;
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warnx("UAVCAN command bridge: received UAVCAN command ID %d, node ID %d", command_id, node_id);
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PX4_INFO("UAVCAN command bridge: received UAVCAN command ID %d, node ID %d", command_id, node_id);
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switch (command_id) {
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case 0:
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@@ -512,7 +502,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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call_res = _enumeration_client.call(get_next_active_node_id(0), req);
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if (call_res < 0) {
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warnx("UAVCAN ESC enumeration: couldn't send initial Begin request: %d", call_res);
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PX4_ERR("UAVCAN ESC enumeration: couldn't send initial Begin request: %d", call_res);
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beep(BeepFrequencyError);
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cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
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@@ -524,7 +514,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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}
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default: {
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warnx("UAVCAN command bridge: unknown command ID %d", command_id);
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PX4_ERR("UAVCAN command bridge: unknown command ID %d", command_id);
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cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
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break;
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}
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@@ -533,7 +523,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE) {
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int command_id = static_cast<int>(cmd.param1 + 0.5f);
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warnx("UAVCAN command bridge: received storage command ID %d", command_id);
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PX4_INFO("UAVCAN command bridge: received storage command ID %d", command_id);
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switch (command_id) {
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case 1: {
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@@ -576,15 +566,12 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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// Shut down once armed
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// TODO (elsewhere): start up again once disarmed?
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bool updated;
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orb_check(armed_sub, &updated);
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if (updated) {
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struct actuator_armed_s armed;
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orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
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if (armed_sub.updated()) {
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actuator_armed_s armed{};
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armed_sub.copy(&armed);
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if (armed.armed && !(armed.lockdown || armed.manual_lockdown)) {
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warnx("UAVCAN command bridge: system armed, exiting now.");
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PX4_INFO("UAVCAN command bridge: system armed, exiting now.");
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break;
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}
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}
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@@ -592,11 +579,12 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
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_subnode_thread_should_exit = false;
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warnx("exiting");
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PX4_INFO("exiting");
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return (pthread_addr_t) 0;
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}
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void UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
|
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void
|
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UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
|
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{
|
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if (_count_in_progress) {
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/*
|
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@@ -622,14 +610,14 @@ void UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::
|
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if (call_res < 0) {
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_count_in_progress = false;
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_count_index = 0;
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warnx("UAVCAN command bridge: couldn't send GetSet during param count: %d", call_res);
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PX4_ERR("UAVCAN command bridge: couldn't send GetSet during param count: %d", call_res);
|
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beep(BeepFrequencyError);
|
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}
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||||
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} else {
|
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_count_in_progress = false;
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_count_index = 0;
|
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warnx("UAVCAN command bridge: completed param count for node %hhu: %hhu", node_id, _param_counts[node_id]);
|
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PX4_INFO("UAVCAN command bridge: completed param count for node %hhu: %hhu", node_id, _param_counts[node_id]);
|
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beep(BeepFrequencyGenericIndication);
|
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}
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|
||||
@@ -637,7 +625,7 @@ void UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::
|
||||
_param_counts[node_id] = 0;
|
||||
_count_in_progress = false;
|
||||
_count_index = 0;
|
||||
warnx("UAVCAN command bridge: GetSet error during param count");
|
||||
PX4_ERR("UAVCAN command bridge: GetSet error during param count");
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -669,15 +657,10 @@ void UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::
|
||||
response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::boolean_value>();
|
||||
}
|
||||
|
||||
if (_param_response_pub == nullptr) {
|
||||
_param_response_pub = orb_advertise(ORB_ID(uavcan_parameter_value), &response);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(uavcan_parameter_value), _param_response_pub, &response);
|
||||
}
|
||||
_param_response_pub.publish(response);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN command bridge: GetSet error");
|
||||
PX4_ERR("UAVCAN command bridge: GetSet error");
|
||||
}
|
||||
|
||||
_param_in_progress = false;
|
||||
@@ -685,38 +668,41 @@ void UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::param_count(uavcan::NodeID node_id)
|
||||
void
|
||||
UavcanServers::param_count(uavcan::NodeID node_id)
|
||||
{
|
||||
uavcan::protocol::param::GetSet::Request req;
|
||||
req.index = 0;
|
||||
int call_res = _param_getset_client.call(node_id, req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN command bridge: couldn't start parameter count: %d", call_res);
|
||||
PX4_ERR("UAVCAN command bridge: couldn't start parameter count: %d", call_res);
|
||||
|
||||
} else {
|
||||
_count_in_progress = true;
|
||||
_count_index = 0;
|
||||
warnx("UAVCAN command bridge: starting param count");
|
||||
PX4_INFO("UAVCAN command bridge: starting param count");
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::param_opcode(uavcan::NodeID node_id)
|
||||
void
|
||||
UavcanServers::param_opcode(uavcan::NodeID node_id)
|
||||
{
|
||||
uavcan::protocol::param::ExecuteOpcode::Request opcode_req;
|
||||
opcode_req.opcode = _param_save_opcode;
|
||||
int call_res = _param_opcode_client.call(node_id, opcode_req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN command bridge: couldn't send ExecuteOpcode: %d", call_res);
|
||||
PX4_ERR("UAVCAN command bridge: couldn't send ExecuteOpcode: %d", call_res);
|
||||
|
||||
} else {
|
||||
_cmd_in_progress = true;
|
||||
warnx("UAVCAN command bridge: sent ExecuteOpcode");
|
||||
PX4_INFO("UAVCAN command bridge: sent ExecuteOpcode");
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
|
||||
void
|
||||
UavcanServers::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
|
||||
{
|
||||
bool success = result.isSuccessful();
|
||||
uint8_t node_id = result.getCallID().server_node_id.get();
|
||||
@@ -725,23 +711,23 @@ void UavcanServers::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::
|
||||
_cmd_in_progress = false;
|
||||
|
||||
if (!result.isSuccessful()) {
|
||||
warnx("UAVCAN command bridge: save request for node %hhu timed out.", node_id);
|
||||
PX4_ERR("UAVCAN command bridge: save request for node %hhu timed out.", node_id);
|
||||
|
||||
} else if (!result.getResponse().ok) {
|
||||
warnx("UAVCAN command bridge: save request for node %hhu rejected.", node_id);
|
||||
PX4_ERR("UAVCAN command bridge: save request for node %hhu rejected.", node_id);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN command bridge: save request for node %hhu completed OK, restarting.", node_id);
|
||||
PX4_INFO("UAVCAN command bridge: save request for node %hhu completed OK, restarting.", node_id);
|
||||
|
||||
uavcan::protocol::RestartNode::Request restart_req;
|
||||
restart_req.magic_number = restart_req.MAGIC_NUMBER;
|
||||
int call_res = _param_restartnode_client.call(node_id, restart_req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN command bridge: couldn't send RestartNode: %d", call_res);
|
||||
PX4_ERR("UAVCAN command bridge: couldn't send RestartNode: %d", call_res);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN command bridge: sent RestartNode");
|
||||
PX4_ERR("UAVCAN command bridge: sent RestartNode");
|
||||
_cmd_in_progress = true;
|
||||
}
|
||||
}
|
||||
@@ -761,7 +747,8 @@ void UavcanServers::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result)
|
||||
void
|
||||
UavcanServers::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result)
|
||||
{
|
||||
bool success = result.isSuccessful();
|
||||
uint8_t node_id = result.getCallID().server_node_id.get();
|
||||
@@ -770,12 +757,13 @@ void UavcanServers::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol:
|
||||
_cmd_in_progress = false;
|
||||
|
||||
if (success) {
|
||||
warnx("UAVCAN command bridge: restart request for node %hhu completed OK.", node_id);
|
||||
PX4_INFO("UAVCAN command bridge: restart request for node %hhu completed OK.", node_id);
|
||||
|
||||
// Clear the dirty flag
|
||||
clear_node_params_dirty(node_id);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN command bridge: restart request for node %hhu failed.", node_id);
|
||||
PX4_ERR("UAVCAN command bridge: restart request for node %hhu failed.", node_id);
|
||||
}
|
||||
|
||||
// Get the next dirty node ID and send the same command to it
|
||||
@@ -786,7 +774,8 @@ void UavcanServers::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol:
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t UavcanServers::get_next_active_node_id(uint8_t base)
|
||||
uint8_t
|
||||
UavcanServers::get_next_active_node_id(uint8_t base)
|
||||
{
|
||||
base++;
|
||||
|
||||
@@ -796,7 +785,8 @@ uint8_t UavcanServers::get_next_active_node_id(uint8_t base)
|
||||
return base;
|
||||
}
|
||||
|
||||
uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
|
||||
uint8_t
|
||||
UavcanServers::get_next_dirty_node_id(uint8_t base)
|
||||
{
|
||||
base++;
|
||||
|
||||
@@ -805,7 +795,8 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
|
||||
return base;
|
||||
}
|
||||
|
||||
void UavcanServers::beep(float frequency)
|
||||
void
|
||||
UavcanServers::beep(float frequency)
|
||||
{
|
||||
uavcan::equipment::indication::BeepCommand cmd;
|
||||
cmd.frequency = frequency;
|
||||
@@ -813,20 +804,21 @@ void UavcanServers::beep(float frequency)
|
||||
(void)_beep_pub.broadcast(cmd);
|
||||
}
|
||||
|
||||
void UavcanServers::cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &result)
|
||||
void
|
||||
UavcanServers::cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &result)
|
||||
{
|
||||
uint8_t next_id = get_next_active_node_id(result.getCallID().server_node_id.get());
|
||||
|
||||
if (!result.isSuccessful()) {
|
||||
warnx("UAVCAN ESC enumeration: begin request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
PX4_ERR("UAVCAN ESC enumeration: begin request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
|
||||
} else if (result.getResponse().error) {
|
||||
warnx("UAVCAN ESC enumeration: begin request for node %hhu rejected: %hhu", result.getCallID().server_node_id.get(),
|
||||
result.getResponse().error);
|
||||
PX4_ERR("UAVCAN ESC enumeration: begin request for node %hhu rejected: %hhu", result.getCallID().server_node_id.get(),
|
||||
result.getResponse().error);
|
||||
|
||||
} else {
|
||||
_esc_count++;
|
||||
warnx("UAVCAN ESC enumeration: begin request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
PX4_INFO("UAVCAN ESC enumeration: begin request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
}
|
||||
|
||||
if (next_id < 128) {
|
||||
@@ -840,22 +832,23 @@ void UavcanServers::cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan:
|
||||
int call_res = _enumeration_client.call(next_id, req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN ESC enumeration: couldn't send Begin request: %d", call_res);
|
||||
PX4_ERR("UAVCAN ESC enumeration: couldn't send Begin request: %d", call_res);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: sent Begin request");
|
||||
PX4_INFO("UAVCAN ESC enumeration: sent Begin request");
|
||||
}
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: begun enumeration on all nodes.");
|
||||
PX4_INFO("UAVCAN ESC enumeration: begun enumeration on all nodes.");
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::cb_enumeration_indication(const
|
||||
uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication> &msg)
|
||||
void
|
||||
UavcanServers::cb_enumeration_indication(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication>
|
||||
&msg)
|
||||
{
|
||||
// Called whenever an ESC thinks it has received user input.
|
||||
warnx("UAVCAN ESC enumeration: got indication");
|
||||
PX4_INFO("UAVCAN ESC enumeration: got indication");
|
||||
|
||||
if (!_esc_enumeration_active) {
|
||||
// Ignore any messages received when we're not expecting them
|
||||
@@ -867,33 +860,33 @@ void UavcanServers::cb_enumeration_indication(const
|
||||
|
||||
for (; i < _esc_enumeration_index; i++) {
|
||||
if (_esc_enumeration_ids[i] == msg.getSrcNodeID().get()) {
|
||||
warnx("UAVCAN ESC enumeration: already enumerated ESC ID %hhu as index %d, ignored", _esc_enumeration_ids[i], i);
|
||||
PX4_INFO("UAVCAN ESC enumeration: already enumerated ESC ID %hhu as index %d, ignored", _esc_enumeration_ids[i], i);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
uavcan::protocol::param::GetSet::Request req;
|
||||
req.name =
|
||||
msg.parameter_name; // 'esc_index' or something alike, the name is not standardized
|
||||
req.name = msg.parameter_name; // 'esc_index' or something alike, the name is not standardized
|
||||
req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = i;
|
||||
|
||||
int call_res = _enumeration_getset_client.call(msg.getSrcNodeID(), req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN ESC enumeration: couldn't send GetSet: %d", call_res);
|
||||
PX4_ERR("UAVCAN ESC enumeration: couldn't send GetSet: %d", call_res);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: sent GetSet to node %hhu (index %d)", _esc_enumeration_ids[i], i);
|
||||
PX4_INFO("UAVCAN ESC enumeration: sent GetSet to node %hhu (index %d)", _esc_enumeration_ids[i], i);
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
|
||||
void
|
||||
UavcanServers::cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
|
||||
{
|
||||
if (!result.isSuccessful()) {
|
||||
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
PX4_ERR("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
PX4_INFO("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
|
||||
uavcan::protocol::param::GetSet::Response resp = result.getResponse();
|
||||
uint8_t esc_index = (uint8_t)resp.value.to<uavcan::protocol::param::Value::Tag::integer_value>();
|
||||
@@ -907,41 +900,43 @@ void UavcanServers::cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan
|
||||
int call_res = _enumeration_save_client.call(result.getCallID().server_node_id, opcode_req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN ESC enumeration: couldn't send ExecuteOpcode: %d", call_res);
|
||||
PX4_ERR("UAVCAN ESC enumeration: couldn't send ExecuteOpcode: %d", call_res);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: sent ExecuteOpcode to node %hhu (index %hhu)", _esc_enumeration_ids[esc_index],
|
||||
esc_index);
|
||||
PX4_INFO("UAVCAN ESC enumeration: sent ExecuteOpcode to node %hhu (index %hhu)", _esc_enumeration_ids[esc_index],
|
||||
esc_index);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
|
||||
void
|
||||
UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
|
||||
{
|
||||
const bool this_is_the_last_one =
|
||||
_esc_enumeration_index >= uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize - 1 ||
|
||||
_esc_enumeration_index >= _esc_count;
|
||||
(_esc_enumeration_index >= uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize - 1) ||
|
||||
(_esc_enumeration_index >= _esc_count);
|
||||
|
||||
if (!result.isSuccessful()) {
|
||||
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
PX4_ERR("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
|
||||
beep(BeepFrequencyError);
|
||||
|
||||
} else if (!result.getResponse().ok) {
|
||||
warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
|
||||
PX4_ERR("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
|
||||
beep(BeepFrequencyError);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
PX4_INFO("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
|
||||
beep(this_is_the_last_one ? BeepFrequencySuccess : BeepFrequencyGenericIndication);
|
||||
}
|
||||
|
||||
warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);
|
||||
PX4_INFO("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);
|
||||
|
||||
if (this_is_the_last_one) {
|
||||
_esc_enumeration_active = false;
|
||||
|
||||
// Tell all ESCs to stop enumerating
|
||||
uavcan::protocol::enumeration::Begin::Request req;
|
||||
|
||||
// TODO: Incorrect implementation; the parameter name field should be left empty.
|
||||
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
|
||||
req.parameter_name = "esc_index";
|
||||
@@ -949,15 +944,16 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
|
||||
int call_res = _enumeration_client.call(get_next_active_node_id(0), req);
|
||||
|
||||
if (call_res < 0) {
|
||||
warnx("UAVCAN ESC enumeration: couldn't send Begin request to stop enumeration: %d", call_res);
|
||||
PX4_ERR("UAVCAN ESC enumeration: couldn't send Begin request to stop enumeration: %d", call_res);
|
||||
|
||||
} else {
|
||||
warnx("UAVCAN ESC enumeration: sent Begin request to stop enumeration");
|
||||
PX4_INFO("UAVCAN ESC enumeration: sent Begin request to stop enumeration");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_path)
|
||||
void
|
||||
UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_path)
|
||||
{
|
||||
/*
|
||||
Copy the ROMFS firmware directory to the appropriate location on SD, without
|
||||
@@ -1025,14 +1021,14 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
size_t srcpath_dev_len = romfs_path_len + 1 + dev_dirname_len;
|
||||
|
||||
if (srcpath_dev_len > maxlen) {
|
||||
warnx("dev: srcpath '%s/%s' too long", romfs_path, dev_dirent->d_name);
|
||||
PX4_WARN("dev: srcpath '%s/%s' too long", romfs_path, dev_dirent->d_name);
|
||||
continue;
|
||||
}
|
||||
|
||||
size_t dstpath_dev_len = sd_path_len + 1 + dev_dirname_len;
|
||||
|
||||
if (dstpath_dev_len > maxlen) {
|
||||
warnx("dev: dstpath '%s/%s' too long", sd_path, dev_dirent->d_name);
|
||||
PX4_WARN("dev: dstpath '%s/%s' too long", sd_path, dev_dirent->d_name);
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -1044,7 +1040,7 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
rv = mkdir(dstpath, S_IRWXU | S_IRWXG | S_IRWXO);
|
||||
|
||||
if (rv != 0) {
|
||||
warnx("dev: couldn't create '%s'", dstpath);
|
||||
PX4_ERR("dev: couldn't create '%s'", dstpath);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
@@ -1056,7 +1052,7 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
DIR *const dev_dir = opendir(srcpath);
|
||||
|
||||
if (!dev_dir) {
|
||||
warnx("dev: couldn't open '%s'", srcpath);
|
||||
PX4_ERR("dev: couldn't open '%s'", srcpath);
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -1074,14 +1070,14 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
size_t srcpath_ver_len = srcpath_dev_len + 1 + ver_dirname_len;
|
||||
|
||||
if (srcpath_ver_len > maxlen) {
|
||||
warnx("ver: srcpath '%s/%s' too long", srcpath, ver_dirent->d_name);
|
||||
PX4_ERR("ver: srcpath '%s/%s' too long", srcpath, ver_dirent->d_name);
|
||||
continue;
|
||||
}
|
||||
|
||||
size_t dstpath_ver_len = dstpath_dev_len + 1 + ver_dirname_len;
|
||||
|
||||
if (dstpath_ver_len > maxlen) {
|
||||
warnx("ver: dstpath '%s/%s' too long", dstpath, ver_dirent->d_name);
|
||||
PX4_ERR("ver: dstpath '%s/%s' too long", dstpath, ver_dirent->d_name);
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -1093,7 +1089,7 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
rv = mkdir(dstpath, S_IRWXU | S_IRWXG | S_IRWXO);
|
||||
|
||||
if (rv != 0) {
|
||||
warnx("ver: couldn't create '%s'", dstpath);
|
||||
PX4_ERR("ver: couldn't create '%s'", dstpath);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
@@ -1107,7 +1103,7 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
DIR *const src_ver_dir = opendir(srcpath);
|
||||
|
||||
if (!src_ver_dir) {
|
||||
warnx("ver: couldn't open '%s'", srcpath);
|
||||
PX4_ERR("ver: couldn't open '%s'", srcpath);
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -1129,7 +1125,7 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
DIR *const dst_ver_dir = opendir(dstpath);
|
||||
|
||||
if (!dst_ver_dir) {
|
||||
warnx("unlink: couldn't open '%s'", dstpath);
|
||||
PX4_ERR("unlink: couldn't open '%s'", dstpath);
|
||||
|
||||
} else {
|
||||
struct dirent *fw_dirent = NULL;
|
||||
@@ -1153,14 +1149,14 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
|
||||
if (dstpath_fw_len > maxlen) {
|
||||
// sizeof(prefix) includes trailing NUL, cancelling out the +1 for the path separator
|
||||
warnx("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name);
|
||||
PX4_ERR("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name);
|
||||
|
||||
} else {
|
||||
// File name starts with "_", delete it.
|
||||
dstpath[dstpath_ver_len] = '/';
|
||||
memcpy(&dstpath[dstpath_ver_len + 1], fw_dirent->d_name, dst_fw_len + 1);
|
||||
unlink(dstpath);
|
||||
warnx("unlink: removed '%s'", dstpath);
|
||||
PX4_ERR("unlink: removed '%s'", dstpath);
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -1178,10 +1174,10 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
size_t dstpath_fw_len = dstpath_ver_len + fw_len;
|
||||
|
||||
if (srcpath_fw_len > maxlen) {
|
||||
warnx("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name);
|
||||
PX4_ERR("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name);
|
||||
|
||||
} else if (dstpath_fw_len > maxlen) {
|
||||
warnx("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name);
|
||||
PX4_ERR("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name);
|
||||
|
||||
} else {
|
||||
// All OK, make the paths and copy the file
|
||||
@@ -1194,10 +1190,10 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
rv = copyFw(dstpath, srcpath);
|
||||
|
||||
if (rv != 0) {
|
||||
warnx("copy: '%s' -> '%s' failed: %d", srcpath, dstpath, rv);
|
||||
PX4_ERR("copy: '%s' -> '%s' failed: %d", srcpath, dstpath, rv);
|
||||
|
||||
} else {
|
||||
warnx("copy: '%s' -> '%s' succeeded", srcpath, dstpath);
|
||||
PX4_INFO("copy: '%s' -> '%s' succeeded", srcpath, dstpath);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1211,24 +1207,24 @@ void UavcanServers::unpackFwFromROMFS(const char *sd_path, const char *romfs_pat
|
||||
(void)closedir(romfs_dir);
|
||||
}
|
||||
|
||||
int UavcanServers::copyFw(const char *dst, const char *src)
|
||||
int
|
||||
UavcanServers::copyFw(const char *dst, const char *src)
|
||||
{
|
||||
int rv = 0;
|
||||
int dfd, sfd;
|
||||
uint8_t buffer[512];
|
||||
uint8_t buffer[512] {};
|
||||
|
||||
dfd = open(dst, O_WRONLY | O_CREAT, 0666);
|
||||
int dfd = open(dst, O_WRONLY | O_CREAT, 0666);
|
||||
|
||||
if (dfd < 0) {
|
||||
warnx("copyFw: couldn't open dst");
|
||||
PX4_ERR("copyFw: couldn't open dst");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
sfd = open(src, O_RDONLY, 0);
|
||||
int sfd = open(src, O_RDONLY, 0);
|
||||
|
||||
if (sfd < 0) {
|
||||
(void)close(dfd);
|
||||
warnx("copyFw: couldn't open src");
|
||||
PX4_ERR("copyFw: couldn't open src");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
@@ -1238,7 +1234,7 @@ int UavcanServers::copyFw(const char *dst, const char *src)
|
||||
size = read(sfd, buffer, sizeof(buffer));
|
||||
|
||||
if (size < 0) {
|
||||
warnx("copyFw: couldn't read");
|
||||
PX4_ERR("copyFw: couldn't read");
|
||||
rv = -errno;
|
||||
|
||||
} else if (size > 0) {
|
||||
@@ -1251,7 +1247,7 @@ int UavcanServers::copyFw(const char *dst, const char *src)
|
||||
written = write(dfd, &buffer[total_written], remaining);
|
||||
|
||||
if (written < 0) {
|
||||
warnx("copyFw: couldn't write");
|
||||
PX4_ERR("copyFw: couldn't write");
|
||||
rv = -errno;
|
||||
|
||||
} else {
|
||||
|
||||
Reference in New Issue
Block a user