mirror of
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
114 lines
4.2 KiB
C++
114 lines
4.2 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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* 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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* 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file NodeManager.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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typedef struct {
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uint8_t node_id;
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uint8_t unique_id[16];
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bool register_setup;
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uint16_t register_index;
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uint16_t retry_count;
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} UavcanNodeEntry;
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class NodeManager : public UavcanBaseSubscriber, public UavcanServiceRequestInterface
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{
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public:
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NodeManager(CanardHandle &handle, UavcanParamManager &pmgr) : UavcanBaseSubscriber(handle, "", "NodeIDAllocationData",
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0),
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_canard_handle(handle), _access_request(handle, pmgr), _list_request(handle) { };
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void subscribe() override
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{
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_access_request.subscribe();
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_list_request.subscribe();
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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 response_callback(const CanardRxTransfer &receive) override
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{
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HandleListResponse(receive);
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}
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void callback(const CanardRxTransfer &receive); // NodeIDAllocation callback
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void HandleListResponse(const CanardRxTransfer &receive);
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void update();
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private:
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CanardHandle &_canard_handle;
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CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
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UavcanNodeEntry nodeid_registry[16] {0}; //TODO configurable or just rewrite
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UavcanAccessServiceRequest _access_request;
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UavcanListServiceRequest _list_request;
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bool nodeRegisterSetup = 0;
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hrt_abstime _register_request_last{0};
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};
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