UAVCAN: publish ardupilot::indication::SafetyState (enables CUAV NEO v2 pro GPS)

src/drivers/uavcan/CMakeLists.txt

@@ -94,7 +94,7 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 
 
 # generated DSDL
-set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
+set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/ardupilot" "${LIBUAVCAN_DIR}/dsdl/uavcan")
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
 set(DSDLC_INPUT_FILES)
@@ -123,6 +123,8 @@ px4_add_module(
 	SRCS
 		rgbled.cpp
 		rgbled.hpp
+		safety_state.cpp
+		safety_state.hpp
 
 		# Main
 		uavcan_main.cpp

src/drivers/uavcan/dsdl/ardupilot/indication/20000.SafetyState.uavcan

@@ -0,0 +1,7 @@
+#
+# support for Safety LED on UAVCAN
+
+uint8 STATUS_SAFETY_ON           = 0
+uint8 STATUS_SAFETY_OFF          = 255
+
+uint8 status

src/drivers/uavcan/safety_state.cpp

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 safety_state.cpp
+ *
+ * @author CUAVcaijie <caijie@cuav.net>
+ */
+
+#include "safety_state.hpp"
+
+UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) :
+	_safety_state_pub(node),
+	_timer(node)
+{
+}
+
+int UavcanSafetyState::init()
+{
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	if (!_timer.isRunning()) {
+		_timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
+
+	return 0;
+}
+
+void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
+{
+	actuator_armed_s actuator_armed;
+
+	if (_actuator_armed_sub.update(&actuator_armed)) {
+		ardupilot::indication::SafetyState cmd;
+
+		if (actuator_armed.armed || actuator_armed.prearmed) {
+			cmd.status = cmd.STATUS_SAFETY_OFF;
+
+		} else {
+			cmd.status = cmd.STATUS_SAFETY_ON;
+		}
+
+		(void)_safety_state_pub.broadcast(cmd);
+	}
+}

src/drivers/uavcan/safety_state.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+*
+*   Copyright (c) 2020 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 safety_state.hpp
+ *
+ * @author CUAVcaijie <caijie@cuav.net>
+ *
+ * @brief According to actuator_armed to control the CAN SafetyState led
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <ardupilot/indication/SafetyState.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+
+
+class UavcanSafetyState
+{
+public:
+	UavcanSafetyState(uavcan::INode &node);
+
+	/*
+	 * setup periodic updater
+	 */
+	int init();
+
+private:
+	/*
+	 * Max update rate to avoid exessive bus traffic
+	 */
+	static constexpr unsigned MAX_RATE_HZ = 10;
+
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	void periodic_update(const uavcan::TimerEvent &);
+
+	typedef uavcan::MethodBinder<UavcanSafetyState *, void (UavcanSafetyState::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	/*
+	 * Publish CAN Safety state led
+	 */
+	uavcan::Publisher<ardupilot::indication::SafetyState> _safety_state_pub;
+
+	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
+
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+
+};

src/drivers/uavcan/uavcan_main.cpp

@@ -82,6 +82,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_node(can_driver, system_clock, _pool_allocator),
 	_esc_controller(_node),
 	_hardpoint_controller(_node),
+	_safety_state_controller(_node),
 	_rgbled_controller(_node),
 	_time_sync_master(_node),
 	_time_sync_slave(_node),
@@ -622,6 +623,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return ret;
 	}
 
+	ret = _safety_state_controller.init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
 	ret = _rgbled_controller.init();
 
 	if (ret < 0) {

src/drivers/uavcan/uavcan_main.hpp

@@ -47,6 +47,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include "rgbled.hpp"
+#include "safety_state.hpp"
 #include "uavcan_driver.hpp"
 #include "uavcan_servers.hpp"
 #include "allocator.hpp"
@@ -201,6 +202,7 @@ private:
 	UavcanEscController		_esc_controller;
 	UavcanMixingInterface 		_mixing_interface{_node_mutex, _esc_controller};
 	UavcanHardpointController	_hardpoint_controller;
+	UavcanSafetyState         	_safety_state_controller;
 	UavcanRGBController             _rgbled_controller;
 	uavcan::GlobalTimeSyncMaster	_time_sync_master;
 	uavcan::GlobalTimeSyncSlave	_time_sync_slave;