Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
2026-11-13 14:21:36 +08:00 · 2022-05-10 09:46:18 -04:00
parent 3ac8fdbe29
commit b1ad4e8864
60 changed files with 967 additions and 802 deletions
@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 SubscriptionManager.hpp
+ *
+ * Manages the UAVCAN subscriptions
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#pragma once
+
+#ifndef CONFIG_CYPHAL_ESC_SUBSCRIBER
+#define CONFIG_CYPHAL_ESC_SUBSCRIBER 0
+#endif
+
+#ifndef CONFIG_CYPHAL_GNSS_SUBSCRIBER_0
+#define CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 0
+#endif
+
+#ifndef CONFIG_CYPHAL_GNSS_SUBSCRIBER_1
+#define CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 0
+#endif
+
+#ifndef CONFIG_CYPHAL_BMS_SUBSCRIBER
+#define CONFIG_CYPHAL_BMS_SUBSCRIBER 0
+#endif
+
+#ifndef CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER
+#define CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER 0
+#endif
+
+/* Preprocessor calculation of Subscribers count */
+
+#define UAVCAN_SUB_COUNT CONFIG_CYPHAL_ESC_SUBSCRIBER + \
+	CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 + \
+	CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 + \
+	CONFIG_CYPHAL_BMS_SUBSCRIBER + \
+	CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER
+
+#include <px4_platform_common/defines.h>
+#include <drivers/drv_hrt.h>
+#include "Subscribers/DynamicPortSubscriber.hpp"
+#include "CanardInterface.hpp"
+
+#include "ServiceClients/GetInfo.hpp"
+#include "ServiceClients/Access.hpp"
+#include "ServiceClients/List.hpp"
+#include "Subscribers/BaseSubscriber.hpp"
+#include "Subscribers/Heartbeat.hpp"
+#include "Subscribers/udral/Battery.hpp"
+#include "Subscribers/udral/Esc.hpp"
+#include "Subscribers/udral/Gnss.hpp"
+#include "Subscribers/legacy/LegacyBatteryInfo.hpp"
+#include "Subscribers/uORB/uorb_subscriber.hpp"
+
+typedef struct {
+	UavcanDynamicPortSubscriber *(*create_sub)(CanardHandle &handle, UavcanParamManager &pmgr) {};
+	const char *subject_name;
+	const uint8_t instance;
+} UavcanDynSubBinder;
+
+class SubscriptionManager
+{
+public:
+	SubscriptionManager(CanardHandle &handle, UavcanParamManager &pmgr) : _canard_handle(handle), _param_manager(pmgr) {}
+	~SubscriptionManager();
+
+	void subscribe();
+	void printInfo();
+	void updateParams();
+
+private:
+	void updateDynamicSubscriptions();
+
+	CanardHandle &_canard_handle;
+	UavcanParamManager &_param_manager;
+	UavcanDynamicPortSubscriber *_dynsubscribers {nullptr};
+
+	UavcanHeartbeatSubscriber _heartbeat_sub {_canard_handle};
+
+#if CONFIG_CYPHAL_GETINFO_RESPONDER
+	// GetInfo response
+	UavcanGetInfoResponse _getinfo_rsp {_canard_handle};
+#endif
+
+	// Process register requests
+	UavcanAccessResponse  _access_rsp {_canard_handle, _param_manager};
+	UavcanListResponse  _list_rsp {_canard_handle, _param_manager};
+
+	const UavcanDynSubBinder _uavcan_subs[UAVCAN_SUB_COUNT] {
+#if CONFIG_CYPHAL_ESC_SUBSCRIBER
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new UavcanEscSubscriber(handle, pmgr, 0);
+			},
+			"esc",
+			0
+		},
+#endif
+#if CONFIG_CYPHAL_GNSS_SUBSCRIBER_0
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new UavcanGnssSubscriber(handle, pmgr, 0);
+			},
+			"gps",
+			0
+		},
+#endif
+#if CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 //FIXME decouple handletanceing
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new UavcanGnssSubscriber(handle, pmgr, 1);
+			},
+			"gps",
+			1
+		},
+#endif
+#if CONFIG_CYPHAL_BMS_SUBSCRIBER
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new UavcanBmsSubscriber(handle, pmgr, 0);
+			},
+			"energy_source",
+			0
+		},
+#endif
+#if 0 //Obsolete to be removed
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new UavcanLegacyBatteryInfoSubscriber(handle, pmgr, 0);
+			},
+			"legacy_bms",
+			0
+		},
+#endif
+#if CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new uORB_over_UAVCAN_Subscriber<sensor_gps_s>(handle, pmgr, ORB_ID(sensor_gps));
+			},
+			"uorb.sensor_gps",
+			0
+		},
+#endif
+	};
+};