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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Peter van der Perk
b1ad4e8864
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
93 lines
3.5 KiB
C++
93 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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* notice, this list of conditions and the following disclaimer in
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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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****************************************************************************/
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/**
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* @file NodeClient.hpp
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*
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* Defines basic implementation of UAVCAN PNP for dynamic Node ID
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*
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* @author Peter van der Perk <peter.vanderperk@nxp.com>
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include "CanardInterface.hpp"
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#include <uavcan/node/ID_1_0.h>
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#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
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#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
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#include "Services/AccessRequest.hpp"
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#include "Services/ListRequest.hpp"
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#define PNP1_PORT_ID uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
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#define PNP1_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
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#define PNP2_PORT_ID uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
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#define PNP2_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_
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class NodeClient : public UavcanBaseSubscriber
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{
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public:
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NodeClient(CanardHandle &handle, UavcanParamManager &pmgr) : UavcanBaseSubscriber(handle, "", "NodeIDAllocationData",
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0),
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_canard_handle(handle) { };
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void subscribe() override
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{
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_canard_handle.RxSubscribe(CanardTransferKindMessage,
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(_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID), // The fixed Subject-ID
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(_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
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CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
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&_subj_sub._canard_sub);
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}
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bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
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bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
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void callback(const CanardRxTransfer &receive); // NodeIDAllocation callback
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void update();
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private:
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CanardHandle &_canard_handle;
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CanardTransferID _node_id_alloc_transfer_id{0};
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hrt_abstime _nodealloc_request_last{0};
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};
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