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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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move uavcan from modules to drivers
This commit is contained in:
Daniel Agar
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_config.h>
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#include "uavcan_driver.hpp"
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#include <drivers/device/device.h>
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#include <perf/perf_counter.h>
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#include <uavcan/node/sub_node.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/param/ExecuteOpcode.hpp>
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#include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
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#include <uavcan/protocol/node_info_retriever.hpp>
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#include <uavcan_posix/basic_file_server_backend.hpp>
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#include <uavcan/protocol/firmware_update_trigger.hpp>
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#include <uavcan/protocol/file_server.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
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#include <uavcan_posix/firmware_version_checker.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/indication/BeepCommand.hpp>
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#include <uavcan/protocol/enumeration/Begin.hpp>
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#include <uavcan/protocol/enumeration/Indication.hpp>
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#include "uavcan_module.hpp"
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#include "uavcan_virtual_can_driver.hpp"
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/**
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* @file uavcan_servers.hpp
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*
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* Defines basic functionality of UAVCAN node.
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author David Sidrane <david_s5@nscdg.com>
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*/
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/**
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* A UAVCAN Server Sub node.
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*/
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class __EXPORT UavcanServers
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{
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static constexpr unsigned NumIfaces = 1; // UAVCAN_STM32_NUM_IFACES
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static constexpr unsigned StackSize = 6000;
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static constexpr unsigned Priority = 120;
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static constexpr unsigned VirtualIfaceBlockAllocationQuota = 80;
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static constexpr float BeepFrequencyGenericIndication = 1000.0F;
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static constexpr float BeepFrequencySuccess = 2000.0F;
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static constexpr float BeepFrequencyError = 100.0F;
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public:
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UavcanServers(uavcan::INode &main_node);
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virtual ~UavcanServers();
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static int start(uavcan::INode &main_node);
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static int stop();
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uavcan::SubNode<> &get_node() { return _subnode; }
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static UavcanServers *instance() { return _instance; }
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/*
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* Set the main node's pointer to to the injector
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* This is a work around as main_node.getDispatcher().remeveRxFrameListener();
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* would require a dynamic cast and rtti is not enabled.
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*/
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void attachITxQueueInjector(ITxQueueInjector **injector) {*injector = &_vdriver;}
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void requestCheckAllNodesFirmwareAndUpdate() { _check_fw = true; }
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bool guessIfAllDynamicNodesAreAllocated() { return _server_instance.guessIfAllDynamicNodesAreAllocated(); }
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private:
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pthread_t _subnode_thread;
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pthread_mutex_t _subnode_mutex;
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volatile bool _subnode_thread_should_exit = false;
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int init();
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pthread_addr_t run(pthread_addr_t);
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static UavcanServers *_instance; ///< singleton pointer
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VirtualCanDriver _vdriver;
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uavcan::SubNode<> _subnode;
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uavcan::INode &_main_node;
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uavcan_posix::dynamic_node_id_server::FileEventTracer _tracer;
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uavcan_posix::dynamic_node_id_server::FileStorageBackend _storage_backend;
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uavcan_posix::FirmwareVersionChecker _fw_version_checker;
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uavcan::dynamic_node_id_server::CentralizedServer _server_instance; ///< server singleton pointer
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uavcan_posix::BasicFileServerBackend _fileserver_backend;
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uavcan::NodeInfoRetriever _node_info_retriever;
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uavcan::FirmwareUpdateTrigger _fw_upgrade_trigger;
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uavcan::BasicFileServer _fw_server;
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/*
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* The MAVLink parameter bridge needs to know the maximum parameter index
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* of each node so that clients can determine when parameter listings have
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* finished. We do that by querying a node's entire parameter set whenever
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* a parameter message is received for a node with a zero _param_count,
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* and storing the count here. If a node doesn't respond, or doesn't have
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* any parameters, its count will stay at zero and we'll try to query the
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* set again next time.
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*
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* The node's UAVCAN ID is used as the index into the _param_counts array.
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*/
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uint8_t _param_counts[128] = {};
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bool _count_in_progress = false;
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uint8_t _count_index = 0;
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bool _param_in_progress = false;
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uint8_t _param_index = 0;
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bool _param_list_in_progress = false;
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bool _param_list_all_nodes = false;
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uint8_t _param_list_node_id = 1;
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uint32_t _param_dirty_bitmap[4] = {};
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uint8_t _param_save_opcode = 0;
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bool _cmd_in_progress = false;
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// uORB topic handle for MAVLink parameter responses
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orb_advert_t _param_response_pub = nullptr;
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orb_advert_t _command_ack_pub = nullptr;
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)>
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ExecuteOpcodeCallback;
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
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void cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_count(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
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void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);
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uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _param_getset_client;
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uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _param_opcode_client;
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uavcan::ServiceClient<uavcan::protocol::RestartNode, RestartNodeCallback> _param_restartnode_client;
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void param_count(uavcan::NodeID node_id);
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void param_opcode(uavcan::NodeID node_id);
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uint8_t get_next_active_node_id(uint8_t base);
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uint8_t get_next_dirty_node_id(uint8_t base);
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void set_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] |= 1 << (node_id & 31); }
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void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); }
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bool are_node_params_dirty(uint8_t node_id) const { return bool((_param_dirty_bitmap[node_id >> 5] >> (node_id & 31)) & 1); }
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void beep(float frequency);
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bool _mutex_inited = false;
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volatile bool _check_fw = false;
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// ESC enumeration
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bool _esc_enumeration_active = false;
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uint8_t _esc_enumeration_ids[uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize];
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uint8_t _esc_enumeration_index = 0;
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uint8_t _esc_count = 0;
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &)>
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EnumerationBeginCallback;
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication>&)>
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EnumerationIndicationCallback;
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void cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &result);
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void cb_enumeration_indication(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication> &msg);
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void cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
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uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;
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uavcan::Subscriber<uavcan::protocol::enumeration::Indication, EnumerationIndicationCallback>
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_enumeration_indication_sub;
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uavcan::ServiceClient<uavcan::protocol::enumeration::Begin, EnumerationBeginCallback> _enumeration_client;
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uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _enumeration_getset_client;
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uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _enumeration_save_client;
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void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
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int copyFw(const char *dst, const char *src);
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};
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