/**************************************************************************** * * 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 NodeIDManager.cpp * * Defines basic implementation of UAVCAN PNP for dynamic Node ID * * @author Peter van der Perk */ #define RETRY_COUNT 10 #include "NodeManager.hpp" void NodeManager::callback(const CanardRxTransfer &receive) { if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) { uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg {}; size_t msg_size_in_bytes = receive.payload_size; uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload, &msg_size_in_bytes); /// do something with the data HandleNodeIDRequest(node_id_alloc_msg); } else { uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg {}; size_t msg_size_in_bytes = receive.payload_size; uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload, &msg_size_in_bytes); /// do something with the data HandleNodeIDRequest(node_id_alloc_msg); } } bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg) { if (msg.allocated_node_id.count == 0) { uint32_t i; msg.allocated_node_id.count = 1; msg.allocated_node_id.elements[0].value = CANARD_NODE_ID_UNSET; /* Search for an available NodeID to assign */ for (i = 1; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { if (i == _canard_handle.node_id()) { continue; // Don't give our NodeID to a node } else if (nodeid_registry[i].node_id == 0) { // Unused nodeid_registry[i].node_id = i; memcpy(&nodeid_registry[i].unique_id, &msg.unique_id_hash, 6); break; } else if (memcmp(&nodeid_registry[i].unique_id[0], &msg.unique_id_hash, 6) == 0) { msg.allocated_node_id.elements[0].value = nodeid_registry[i].node_id; // Existing NodeID break; } } if (i + 1 > sizeof(nodeid_registry) / sizeof(nodeid_registry[0])) { PX4_ERR("access out of bounds nodeid_registry"); return false; } nodeid_registry[i].register_setup = false; // Re-instantiate register setup nodeid_registry[i].register_index = 0; nodeid_registry[i].retry_count = 0; if (msg.allocated_node_id.elements[0].value != CANARD_NODE_ID_UNSET) { PX4_INFO("Received NodeID allocation request assigning %i", msg.allocated_node_id.elements[0].value); uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; size_t payload_size = uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_; const CanardTransferMetadata transfer_metadata = { .priority = CanardPriorityNominal, .transfer_kind = CanardTransferKindMessage, .port_id = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID. .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. .transfer_id = _uavcan_pnp_nodeidallocation_v1_transfer_id, }; int result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&msg, node_id_alloc_payload_buffer, &payload_size); if (result == 0) { // set the data ready in the buffer and chop if needed ++_uavcan_pnp_nodeidallocation_v1_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); } _register_request_last = hrt_absolute_time(); return result >= 0; } } return false; } bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg) { //TODO v2 node id return false; } void NodeManager::HandleListResponse(const CanardRxTransfer &receive) { uavcan_register_List_Response_1_0 msg; size_t register_in_size_bits = receive.payload_size; uavcan_register_List_Response_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, ®ister_in_size_bits); if (msg.name.name.count == 0) { // Index doesn't exist, we've parsed through all registers for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { if (nodeid_registry[i].node_id == receive.metadata.remote_node_id) { nodeid_registry[i].register_setup = true; // Don't update anymore } } } else { for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { if (nodeid_registry[i].node_id == receive.metadata.remote_node_id) { nodeid_registry[i].register_index++; // Increment index counter for next update() nodeid_registry[i].register_setup = false; nodeid_registry[i].retry_count = 0; } } if (_access_request.setPortId(receive.metadata.remote_node_id, msg.name, NULL)) { //FIXME confirm handler PX4_INFO("Set portID succesfull"); } else { PX4_INFO("Register not found %.*s", msg.name.name.count, msg.name.name.elements); } } } void NodeManager::update() { if (hrt_elapsed_time(&_register_request_last) >= hrt_abstime(2 * 1000000ULL)) { // Compiler hates me here, some 1_s doesn't work for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { if (nodeid_registry[i].node_id != 0 && nodeid_registry[i].register_setup == false) { //Setting up registers _list_request.getIndex(nodeid_registry[i].node_id, nodeid_registry[i].register_index, this); nodeid_registry[i].retry_count++; if (nodeid_registry[i].retry_count > RETRY_COUNT) { nodeid_registry[i].register_setup = true; // Don't update anymore } } } _register_request_last = hrt_absolute_time(); } }