Added standard DSDL types: uavcan.*, uavcan.protocol.*, uavcan.mavlink.*

2026-10-12 04:43:33 +08:00 · 2014-03-06 13:32:38 +04:00
parent f06346877f
commit 451ea11795
31 changed files with 331 additions and 2 deletions
@@ -0,0 +1,8 @@
+#
+# Represents the quality of associated data, higher is better.
+#
+
+float16 UNKNOWN = -65504
+float16 MIN     = 0
+float16 MAX     = 65504
+float16 value
@@ -0,0 +1,7 @@
+#
+# Global timestamp in hectomicroseconds (1 = 100 usec), 6 bytes.
+#
+
+uint48 UNKNOWN = 0
+uint48 USEC_PER_LSB = 100  # Timestamp resolution
+truncated uint48 husec     # Hectomicroseconds (10^-4)
@@ -0,0 +1,10 @@
+#
+# Encapsulated MAVLink message.
+#
+
+uint8 seq
+uint8 sysid
+uint8 compid
+uint8 msgid
+
+uint8[<256] payload
@@ -0,0 +1,11 @@
+#
+# Time synchronization; publish frequency 0.5 Hz.
+# Should be UTC time, not GPS time nor local time.
+# Any node that publishes a timestamped data must use this time reference.
+# Multiple nodes can provide the time synchronization concurrently.
+#
+
+uint16 PUBLICATION_PERIOD_MS = 2000
+
+uavcan.Timestamp timestamp   # Must be known
+float16 timestamp_variance   # Units of the timestamp ^2
@@ -0,0 +1,17 @@
+#
+# This message must never be published during normal operation. This message may
+# be published with high frequency (~10..100 Hz) to inform the network participants
+# that the system has entered unrecoverable fault condition (e.g. mission critical
+# node failure) and is not capable of further operation.
+#
+# Typical reaction to this message may include emergency motor/power shutdown,
+# safety parachute deployment, etc. Nodes that are expected to react to this message
+# should wait for at least MIN_MESSAGES subsequent messages published with the
+# interval no higher than MAX_INTERVAL_MS before undertaking any emergency actions.
+#
+
+uint8 MIN_MESSAGES = 5
+uint16 MAX_INTERVAL_MS = 500
+
+# Short description that would fit into single CAN frame
+uint8[<=8] reason_text
@@ -0,0 +1,26 @@
+#
+# Abstract node status information.
+# Must be published periodically.
+#
+
+uint16 PUBLICATION_PERIOD_MS = 1000
+
+# If a node fails to publish this message in this amount of time, it should be considered offline.
+uint16 OFFLINE_TIMEOUT_MS = 4000
+
+# Uptime counter should never overflow.
+uint24 uptime_sec
+
+# Status code should be used to reflect the node status in the most abstract way.
+# Use cases: top-level onboard computer should not allow the UAV to begin normal operation
+# unless all nodes report OK. If a mission critical node reports CRITICAL status, current
+# mission should be immediately yet safely aborted (e.g. RTL).
+# OFFLINE status can be actually reported by the node to explicitly inform other network
+# participants that the sending node is about to shutdown. In this case other nodes will not
+# have to wait OFFLINE_TIMEOUT_MS before they detect that the node is no longer available.
+uint4 STATUS_OK           = 0
+uint4 STATUS_INITIALIZING = 1
+uint4 STATUS_WARNING      = 2
+uint4 STATUS_CRITICAL     = 3
+uint4 STATUS_OFFLINE      = 15
+uint4 status_code
@@ -0,0 +1,14 @@
+#
+# Full node info request.
+#
+
+---
+
+Version software_version
+Version hardware_version
+Version uavcan_version
+
+NodeStatus status
+
+# Human readable name, e.g. "pixhawk", "gnss_mag". Alphanumeric and underscores.
+uint8[<64] name
@@ -0,0 +1,5 @@
+#
+# This message can be broadcasted in order to perform global network discovery.
+# Alternatively, it is possible to wait some time so each node of the network
+# transmits NodeStatus message at least once.
+#
@@ -0,0 +1,17 @@
+#
+# Get the implementation details of a given data type.
+#
+
+uint16 id
+DataTypeKind kind
+
+---
+
+DataTypeSignature signature # Data type hash as computed by DSDL compiler (type name + each field)
+DataTypeName name           # Full data type name, e.g. "std.node.GetDataTypeInfo"
+
+uint8 MASK_KNOWN      = 1   # This data type is defined
+uint8 MASK_SUBSCRIBED = 2   # Subscribed to messages of this type
+uint8 MASK_PUBLISHING = 4   # Publishing messages of this type
+uint8 MASK_SERVING    = 8   # Providing service of this type
+uint8 mask
@@ -0,0 +1,15 @@
+#
+# Get protocol statistics for CAN and UAVCAN.
+#
+
+---
+
+# CAN bus statistics, for each interface independently
+uint64[<=3] can_frames_tx
+uint64[<=3] can_frames_rx
+uint64[<=3] can_frames_errors
+
+# UAVCAN transport layer statistics
+uint64 transfers_tx
+uint64 transfers_rx
+uint32 transfers_rx_errors
@@ -0,0 +1,11 @@
+#
+# This service allows to detect type compatibility between two nodes in one request.
+#
+
+DataTypeIDMask known_ids
+DataTypeKind kind
+
+---
+
+DataTypeIDMask mutually_known_ids
+DataTypeSignature aggregate_signature
@@ -0,0 +1,11 @@
+#
+# Restart the node.
+# Some nodes may require restart before the new configuration will be applied.
+#
+
+uint64 MAGIC_NUMBER = 0xACCE551B1E012345
+uint64 magic_number
+
+---
+
+bool ok
@@ -0,0 +1,5 @@
+#
+# Data type ID mask; 1 - known, 0 - unknown.
+#
+
+bool[1024] value
@@ -0,0 +1,7 @@
+#
+# Data type kind (message or service).
+#
+
+uint2 SERVICE = 0
+uint2 MESSAGE = 1
+uint2 value
@@ -0,0 +1,5 @@
+#
+# Full data type name.
+#
+
+uint8[<=80] value
@@ -0,0 +1,5 @@
+#
+# Data type signature value, 64 bit.
+#
+
+uint64 value
@@ -0,0 +1,7 @@
+#
+# Nested type.
+# Generic version information.
+#
+
+uint8 major
+uint8 minor
@@ -0,0 +1,15 @@
+#
+# Generic named parameter (key/value pair).
+#
+
+uint3 TYPE_UNDEF   = 0
+uint3 TYPE_INTEGER = 1
+uint3 TYPE_FLOAT   = 2
+uint3 TYPE_STRING  = 3
+uint3 TYPE_BYTES   = 4
+uint3 type
+
+uint8[<64] key
+
+float64[<=1] numeric_value  # For type = INTEGER, FLOAT
+uint8[<256] binary_value    # For type = STRING, BYTES
@@ -0,0 +1,12 @@
+#
+# Start HIL simulation for the specified components.
+#
+
+uint64 MAGIC_NUMBER = 0xACCE551B1E012345
+uint64 magic_number
+
+uint64 component_mask   # Components are application defined
+
+---
+
+bool ok
@@ -0,0 +1,12 @@
+#
+# Generic log message.
+#
+
+uint3 SEVERITY_DEBUG    = 0
+uint3 SEVERITY_INFO     = 1
+uint3 SEVERITY_WARNING  = 2
+uint3 SEVERITY_ERROR    = 3
+uint3 severity
+
+uint8[<32] source
+uint8[<128] text
@@ -0,0 +1,11 @@
+#
+# Remote file info.
+#
+
+Path path
+
+---
+
+Crc crc
+int64 size
+Errno result
@@ -0,0 +1,17 @@
+#
+# Remote directory contents.
+#
+
+uint32 entry_index
+Path directory_path
+
+---
+
+Errno result
+
+uint4 ENTRY_TYPE_NONE = 0
+uint4 ENTRY_TYPE_FILE = 1
+uint4 ENTRY_TYPE_DIR  = 2
+uint4 entry_type
+
+Path entry_abs_path
@@ -0,0 +1,9 @@
+#
+# Remote file deletion request.
+#
+
+Path path
+
+---
+
+Errno result
@@ -0,0 +1,15 @@
+#
+# Read contents of the file from a remote node.
+# Use cases: Firmware update, log download.
+#
+
+int64 offset
+Path path
+
+---
+
+Errno result
+
+# Empty data means the offset is out of file boundaries.
+# Non-empty data means the end of file is not reached yet, even if the length is less than max.
+truncated uint8[<256] data
@@ -0,0 +1,11 @@
+#
+# Initiates file transfer between two nodes.
+# Use cases: Configuration file replacement, executable update.
+#
+
+Path src  # On the requesting node
+Path dst  # On the serving node
+
+---
+
+Errno result
@@ -0,0 +1,16 @@
+#
+# This service initiates the firmware update procedure.
+#
+# Nodes are allowed to explicitly reject this request under some circumstances
+# (e.g. ESC should reject this if the motor is running).
+#
+# If the node accepts the request, initiator will get the response immediately,
+# before the update process actually begins.
+#
+
+Path image_file_remote_path
+
+---
+
+Errno result
+uint8[<64] error_message
@@ -0,0 +1,6 @@
+#
+# File CRC.
+# Algorithm: CRC-64-WE.
+#
+
+uint64 value
@@ -0,0 +1,5 @@
+#
+# File operation result - UNIX errno.
+#
+
+int16 value
@@ -0,0 +1,7 @@
+#
+# Encoded FS path (ASCII/UTF8).
+#
+
+uint8 SEPARATOR = 47 # ASCII '/'
+
+uint8[<128] value
@@ -0,0 +1,10 @@
+
+256..399 - high priority equipment
+
+500..519 - nav
+
+550..599 - protocol
+
+600..749 - low priority eqipment
+
+767 - MAVLink
@@ -52,8 +52,10 @@ if (GTEST_FOUND)

    # DSDL compiler invocation
    add_custom_target(dsdlc dsdl_compiler/dsdlc.py -v
-                            test/dsdl_test/root_ns_a test/dsdl_test/root_ns_b  # Inputs
-                            -Otest/dsdlc_output                                # Output
+                            test/dsdl_test/root_ns_a               # Input
+                            test/dsdl_test/root_ns_b               # Input
+                            ${CMAKE_SOURCE_DIR}/../dsdl/uavcan     # Input
+                            -Otest/dsdlc_output                    # Output
                       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
    add_dependencies(libuavcan_test dsdlc)
    include_directories(${CMAKE_SOURCE_DIR}/test/dsdlc_output)