mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 12:48:53 +08:00
Daniel Agar
2e2ac36cab
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight) - always handle UAVCAN parameters with or without the FW server active - remove legacy ESC enumeration in FW server
88 lines
3.5 KiB
C++
88 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014-2021 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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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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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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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
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#include <uavcan/protocol/file_server.hpp>
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#include <uavcan/protocol/firmware_update_trigger.hpp>
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#include <uavcan/protocol/node_info_retriever.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan_posix/basic_file_server_backend.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
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#include <uavcan_posix/firmware_version_checker.hpp>
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#include "uavcan_module.hpp"
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/**
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* @file uavcan_servers.hpp
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*
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* Defines basic functionality of UAVCAN node.
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author David Sidrane <david_s5@nscdg.com>
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*/
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/**
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* A UAVCAN Server Sub node.
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*/
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class UavcanServers
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{
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public:
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UavcanServers(uavcan::INode &node, uavcan::NodeInfoRetriever &node_info_retriever);
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~UavcanServers() = default;
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int init();
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bool guessIfAllDynamicNodesAreAllocated() { return _server_instance.guessIfAllDynamicNodesAreAllocated(); }
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private:
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void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
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void migrateFWFromRoot(const char *sd_path, const char *sd_root_path);
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int copyFw(const char *dst, const char *src);
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uavcan_posix::dynamic_node_id_server::FileEventTracer _tracer;
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uavcan_posix::dynamic_node_id_server::FileStorageBackend _storage_backend;
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uavcan_posix::FirmwareVersionChecker _fw_version_checker;
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uavcan::dynamic_node_id_server::CentralizedServer _server_instance; ///< server singleton pointer
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uavcan_posix::BasicFileServerBackend _fileserver_backend;
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uavcan::FirmwareUpdateTrigger _fw_upgrade_trigger;
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uavcan::BasicFileServer _fw_server;
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uavcan::NodeInfoRetriever &_node_info_retriever;
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};
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