/**************************************************************************** * * 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 NodeClient.cpp * * Defines basic implementation of client UAVCAN PNP for requesting a Node ID * * @author Peter van der Perk */ #define PNP_UNIQUE_ID_SIZE 16 // 128 bit unique id #include #include "NodeClient.hpp" void NodeClient::callback(const CanardRxTransfer &receive) { if (receive.metadata.remote_node_id != CANARD_NODE_ID_UNSET && _canard_handle.node_id() == CANARD_NODE_ID_UNSET) { int32_t allocated = CANARD_NODE_ID_UNSET; px4_guid_t px4_guid; board_get_px4_guid(px4_guid); if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) { uavcan_pnp_NodeIDAllocationData_2_0 msg; size_t msg_size_in_bytes = receive.payload_size; uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&msg, (const uint8_t *)receive.payload, &msg_size_in_bytes); if (memcmp(msg.unique_id, px4_guid, sizeof(msg.unique_id)) == 0) { allocated = msg.node_id.value; } } else { uavcan_pnp_NodeIDAllocationData_1_0 msg; size_t msg_size_in_bytes = receive.payload_size; uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, &msg_size_in_bytes); if (msg.allocated_node_id.count > 0) { if (msg.unique_id_hash == (crc64(px4_guid, PNP_UNIQUE_ID_SIZE) & 0xFFFFFFFFFFFF)) { allocated = msg.allocated_node_id.elements[0].value; } } } if (allocated == CANARD_NODE_ID_UNSET) { return; // UID mismatch. } if (allocated <= 0 || allocated >= (int32_t)CANARD_NODE_ID_MAX) // Allocated node-ID ignored because it exceeds max_node_id { return; } _canard_handle.set_node_id(allocated); PX4_INFO("Allocated Node ID %d", _canard_handle.node_id()); } } void NodeClient::update() { if (hrt_elapsed_time(&_nodealloc_request_last) >= hrt_abstime(2 * 1000000ULL)) { // Compiler hates me here, some 1_s doesn't work int32_t result; // Allocation already done, nothing to do if (_canard_handle.node_id() != CANARD_NODE_ID_UNSET) { return; } if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) { // NodeIDAllocationData message uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg; uint8_t node_id_alloc_payload_buffer[PNP2_PAYLOAD_SIZE]; size_t payload_size = PNP2_PAYLOAD_SIZE; px4_guid_t px4_guid; board_get_px4_guid(px4_guid); memcpy(node_id_alloc_msg.unique_id, px4_guid, sizeof(node_id_alloc_msg.unique_id)); //node_id_alloc_msg.node_id.value = preffered_node_id; //FIXME preffered ID PX4 Param const CanardTransferMetadata transfer_metadata = { .priority = CanardPriorityNominal, .transfer_kind = CanardTransferKindMessage, .port_id = PNP2_PORT_ID, // This is the subject-ID. .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. .transfer_id = _node_id_alloc_transfer_id, }; result = uavcan_pnp_NodeIDAllocationData_2_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer, &payload_size); if (result == 0) { // set the data ready in the buffer and chop if needed ++_node_id_alloc_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC, &transfer_metadata, payload_size, &node_id_alloc_payload_buffer); } } else { // NodeIDAllocationData message uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg; uavcan_pnp_NodeIDAllocationData_1_0_initialize_(&node_id_alloc_msg); uint8_t node_id_alloc_payload_buffer[PNP1_PAYLOAD_SIZE]; size_t payload_size = PNP1_PAYLOAD_SIZE; px4_guid_t px4_guid; board_get_px4_guid(px4_guid); node_id_alloc_msg.unique_id_hash = (crc64(px4_guid, PNP_UNIQUE_ID_SIZE) & 0xFFFFFFFFFFFF); const CanardTransferMetadata transfer_metadata = { .priority = CanardPriorityNominal, .transfer_kind = CanardTransferKindMessage, .port_id = PNP1_PORT_ID, // This is the subject-ID. .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. .transfer_id = _node_id_alloc_transfer_id, }; result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer, &payload_size); if (result == 0) { // set the data ready in the buffer and chop if needed ++_node_id_alloc_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC, &transfer_metadata, payload_size, &node_id_alloc_payload_buffer); } } _nodealloc_request_last = hrt_absolute_time(); } }