mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
566 lines
17 KiB
C++
566 lines
17 KiB
C++
/*
|
|
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
#ifndef NDEBUG
|
|
# define UAVCAN_DEBUG 1
|
|
#endif
|
|
|
|
#include <iostream>
|
|
#include <thread>
|
|
#include <condition_variable>
|
|
#include <uavcan_linux/uavcan_linux.hpp>
|
|
#include <uavcan/node/sub_node.hpp>
|
|
#include <uavcan/protocol/node_status_monitor.hpp>
|
|
#include <uavcan/protocol/debug/KeyValue.hpp>
|
|
#include "debug.hpp"
|
|
|
|
/**
|
|
* Generic queue based on the linked list class defined in libuavcan.
|
|
* This class does not use heap memory.
|
|
*/
|
|
template <typename T>
|
|
class Queue
|
|
{
|
|
struct Item : public uavcan::LinkedListNode<Item>
|
|
{
|
|
T payload;
|
|
|
|
template <typename... Args>
|
|
Item(Args... args) : payload(args...) { }
|
|
};
|
|
|
|
uavcan::LimitedPoolAllocator allocator_;
|
|
uavcan::LinkedListRoot<Item> list_;
|
|
|
|
public:
|
|
Queue(uavcan::IPoolAllocator& arg_allocator, std::size_t block_allocation_quota) :
|
|
allocator_(arg_allocator, block_allocation_quota)
|
|
{
|
|
uavcan::IsDynamicallyAllocatable<Item>::check();
|
|
}
|
|
|
|
bool isEmpty() const { return list_.isEmpty(); }
|
|
|
|
/**
|
|
* Creates one item in-place at the end of the list.
|
|
* Returns true if the item was appended successfully, false if there's not enough memory.
|
|
* Complexity is O(N) where N is queue length.
|
|
*/
|
|
template <typename... Args>
|
|
bool tryEmplace(Args... args)
|
|
{
|
|
// Allocating memory
|
|
void* const ptr = allocator_.allocate(sizeof(Item));
|
|
if (ptr == nullptr)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
// Constructing the new item
|
|
Item* const item = new (ptr) Item(args...);
|
|
assert(item != nullptr);
|
|
|
|
// Inserting the new item at the end of the list
|
|
Item* p = list_.get();
|
|
if (p == nullptr)
|
|
{
|
|
list_.insert(item);
|
|
}
|
|
else
|
|
{
|
|
while (p->getNextListNode() != nullptr)
|
|
{
|
|
p = p->getNextListNode();
|
|
}
|
|
assert(p->getNextListNode() == nullptr);
|
|
p->setNextListNode(item);
|
|
assert(p->getNextListNode()->getNextListNode() == nullptr);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Accesses the first element.
|
|
* Nullptr will be returned if the queue is empty.
|
|
* Complexity is O(1).
|
|
*/
|
|
T* peek() { return isEmpty() ? nullptr : &list_.get()->payload; }
|
|
const T* peek() const { return isEmpty() ? nullptr : &list_.get()->payload; }
|
|
|
|
/**
|
|
* Removes the first element.
|
|
* If the queue is empty, nothing will be done and assertion failure will be triggered.
|
|
* Complexity is O(1).
|
|
*/
|
|
void pop()
|
|
{
|
|
Item* const item = list_.get();
|
|
assert(item != nullptr);
|
|
if (item != nullptr)
|
|
{
|
|
list_.remove(item);
|
|
item->~Item();
|
|
allocator_.deallocate(item);
|
|
}
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Feel free to remove.
|
|
*/
|
|
static void testQueue()
|
|
{
|
|
uavcan::PoolAllocator<1024, uavcan::MemPoolBlockSize> allocator;
|
|
Queue<typename uavcan::MakeString<50>::Type> q(allocator, 4);
|
|
ENFORCE(q.isEmpty());
|
|
ENFORCE(q.peek() == nullptr);
|
|
ENFORCE(q.tryEmplace("One"));
|
|
ENFORCE(q.tryEmplace("Two"));
|
|
ENFORCE(q.tryEmplace("Three"));
|
|
ENFORCE(q.tryEmplace("Four"));
|
|
ENFORCE(!q.tryEmplace("Five"));
|
|
ENFORCE(*q.peek() == "One");
|
|
q.pop();
|
|
ENFORCE(*q.peek() == "Two");
|
|
q.pop();
|
|
ENFORCE(*q.peek() == "Three");
|
|
q.pop();
|
|
ENFORCE(*q.peek() == "Four");
|
|
q.pop();
|
|
ENFORCE(q.isEmpty());
|
|
ENFORCE(q.peek() == nullptr);
|
|
}
|
|
|
|
/**
|
|
* Objects of this class are owned by the sub-node thread.
|
|
* This class does not use heap memory.
|
|
*/
|
|
class VirtualCanIface : public uavcan::ICanIface,
|
|
uavcan::Noncopyable
|
|
{
|
|
struct RxItem
|
|
{
|
|
const uavcan::CanRxFrame frame;
|
|
const uavcan::CanIOFlags flags;
|
|
|
|
RxItem(const uavcan::CanRxFrame& arg_frame, uavcan::CanIOFlags arg_flags) :
|
|
frame(arg_frame),
|
|
flags(arg_flags)
|
|
{ }
|
|
};
|
|
|
|
std::mutex& mutex_;
|
|
uavcan::CanTxQueue prioritized_tx_queue_;
|
|
Queue<RxItem> rx_queue_;
|
|
|
|
int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override
|
|
{
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
prioritized_tx_queue_.push(frame, tx_deadline, uavcan::CanTxQueue::Volatile, flags);
|
|
return 1;
|
|
}
|
|
|
|
int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
|
|
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override
|
|
{
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
|
|
if (rx_queue_.isEmpty())
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
const auto item = *rx_queue_.peek();
|
|
rx_queue_.pop();
|
|
|
|
out_frame = item.frame;
|
|
out_ts_monotonic = item.frame.ts_mono;
|
|
out_ts_utc = item.frame.ts_utc;
|
|
out_flags = item.flags;
|
|
|
|
return 1;
|
|
}
|
|
|
|
int16_t configureFilters(const uavcan::CanFilterConfig*, std::uint16_t) override { return -uavcan::ErrDriver; }
|
|
uint16_t getNumFilters() const override { return 0; }
|
|
uint64_t getErrorCount() const override { return 0; }
|
|
|
|
public:
|
|
VirtualCanIface(uavcan::IPoolAllocator& allocator, uavcan::ISystemClock& clock,
|
|
std::mutex& arg_mutex, unsigned quota_per_queue) :
|
|
mutex_(arg_mutex),
|
|
prioritized_tx_queue_(allocator, clock, quota_per_queue),
|
|
rx_queue_(allocator, quota_per_queue)
|
|
{ }
|
|
|
|
/**
|
|
* Note that RX queue overwrites oldest items when overflowed.
|
|
* Call this from the main thread only.
|
|
* No additional locking is required.
|
|
*/
|
|
void addRxFrame(const uavcan::CanRxFrame& frame, uavcan::CanIOFlags flags)
|
|
{
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
if (!rx_queue_.tryEmplace(frame, flags) && !rx_queue_.isEmpty())
|
|
{
|
|
rx_queue_.pop();
|
|
(void)rx_queue_.tryEmplace(frame, flags);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Call this from the main thread only.
|
|
* No additional locking is required.
|
|
*/
|
|
void flushTxQueueTo(uavcan::INode& main_node, std::uint8_t iface_index)
|
|
{
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
|
|
const std::uint8_t iface_mask = static_cast<std::uint8_t>(1U << iface_index);
|
|
|
|
while (auto e = prioritized_tx_queue_.peek())
|
|
{
|
|
UAVCAN_TRACE("VirtualCanIface", "TX injection [iface=0x%02x]: %s",
|
|
unsigned(iface_mask), e->toString().c_str());
|
|
|
|
const int res = main_node.injectTxFrame(e->frame, e->deadline, iface_mask,
|
|
uavcan::CanTxQueue::Qos(e->qos), e->flags);
|
|
prioritized_tx_queue_.remove(e);
|
|
if (res <= 0)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Call this from the sub-node thread only.
|
|
* No additional locking is required.
|
|
*/
|
|
bool hasDataInRxQueue() const
|
|
{
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
return !rx_queue_.isEmpty();
|
|
}
|
|
};
|
|
|
|
/**
|
|
* This interface defines one method that will be called by the main node thread periodically in order to
|
|
* transfer contents of TX queue of the sub-node into the TX queue of the main node.
|
|
*/
|
|
class ITxQueueInjector
|
|
{
|
|
public:
|
|
virtual ~ITxQueueInjector() { }
|
|
|
|
/**
|
|
* Flush contents of TX queues into the main node.
|
|
* @param main_node Reference to the main node.
|
|
*/
|
|
virtual void injectTxFramesInto(uavcan::INode& main_node) = 0;
|
|
};
|
|
|
|
/**
|
|
* Objects of this class are owned by the sub-node thread.
|
|
* This class does not use heap memory.
|
|
* @tparam SharedMemoryPoolSize Amount of memory, in bytes, that will be statically allocated for the
|
|
* memory pool that will be shared across all interfaces for RX/TX queues.
|
|
* Typically this value should be no less than 4K per interface.
|
|
*/
|
|
template <unsigned SharedMemoryPoolSize>
|
|
class VirtualCanDriver : public uavcan::ICanDriver,
|
|
public uavcan::IRxFrameListener,
|
|
public ITxQueueInjector,
|
|
uavcan::Noncopyable
|
|
{
|
|
class Event
|
|
{
|
|
std::mutex m_;
|
|
std::condition_variable cv_;
|
|
|
|
public:
|
|
/**
|
|
* Note that this method may return spuriously.
|
|
*/
|
|
void waitFor(uavcan::MonotonicDuration duration)
|
|
{
|
|
std::unique_lock<std::mutex> lk(m_);
|
|
(void)cv_.wait_for(lk, std::chrono::microseconds(duration.toUSec()));
|
|
}
|
|
|
|
void signal() { cv_.notify_all(); }
|
|
};
|
|
|
|
Event event_; ///< Used to unblock the select() call when IO happens.
|
|
std::mutex mutex_; ///< Shared across all ifaces
|
|
uavcan::PoolAllocator<SharedMemoryPoolSize, uavcan::MemPoolBlockSize> allocator_; ///< Shared across all ifaces
|
|
uavcan::LazyConstructor<VirtualCanIface> ifaces_[uavcan::MaxCanIfaces];
|
|
const unsigned num_ifaces_;
|
|
uavcan_linux::SystemClock clock_;
|
|
|
|
uavcan::ICanIface* getIface(uint8_t iface_index) override
|
|
{
|
|
return (iface_index < num_ifaces_) ? ifaces_[iface_index].operator VirtualCanIface*() : nullptr;
|
|
}
|
|
|
|
uint8_t getNumIfaces() const override { return num_ifaces_; }
|
|
|
|
/**
|
|
* This and other methods of ICanDriver will be invoked by the sub-node thread.
|
|
*/
|
|
int16_t select(uavcan::CanSelectMasks& inout_masks,
|
|
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
|
|
uavcan::MonotonicTime blocking_deadline) override
|
|
{
|
|
bool need_block = (inout_masks.write == 0); // Write queue is infinite
|
|
for (unsigned i = 0; need_block && (i < num_ifaces_); i++)
|
|
{
|
|
const bool need_read = inout_masks.read & (1U << i);
|
|
if (need_read && ifaces_[i]->hasDataInRxQueue())
|
|
{
|
|
need_block = false;
|
|
}
|
|
}
|
|
|
|
if (need_block)
|
|
{
|
|
event_.waitFor(blocking_deadline - clock_.getMonotonic());
|
|
}
|
|
|
|
inout_masks = uavcan::CanSelectMasks();
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
const std::uint8_t iface_mask = 1U << i;
|
|
inout_masks.write |= iface_mask; // Always ready to write
|
|
if (ifaces_[i]->hasDataInRxQueue())
|
|
{
|
|
inout_masks.read |= iface_mask;
|
|
}
|
|
}
|
|
|
|
return num_ifaces_; // We're always ready to write, hence > 0.
|
|
}
|
|
|
|
/**
|
|
* This handler will be invoked by the main node thread.
|
|
*/
|
|
void handleRxFrame(const uavcan::CanRxFrame& frame, uavcan::CanIOFlags flags) override
|
|
{
|
|
UAVCAN_TRACE("VirtualCanDriver", "RX [flags=%u]: %s", unsigned(flags), frame.toString().c_str());
|
|
if (frame.iface_index < num_ifaces_)
|
|
{
|
|
ifaces_[frame.iface_index]->addRxFrame(frame, flags);
|
|
event_.signal();
|
|
}
|
|
else
|
|
{
|
|
assert(false);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* This method will be invoked by the main node thread.
|
|
*/
|
|
void injectTxFramesInto(uavcan::INode& main_node) override
|
|
{
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
ifaces_[i]->flushTxQueueTo(main_node, i);
|
|
}
|
|
event_.signal();
|
|
}
|
|
|
|
public:
|
|
VirtualCanDriver(unsigned arg_num_ifaces) : num_ifaces_(arg_num_ifaces)
|
|
{
|
|
assert(num_ifaces_ > 0 && num_ifaces_ <= uavcan::MaxCanIfaces);
|
|
|
|
const unsigned quota_per_iface = allocator_.getNumBlocks() / num_ifaces_;
|
|
const unsigned quota_per_queue = quota_per_iface; // 2x overcommit
|
|
|
|
UAVCAN_TRACE("VirtualCanDriver", "Total blocks: %u, quota per queue: %u",
|
|
unsigned(allocator_.getNumBlocks()), unsigned(quota_per_queue));
|
|
|
|
for (unsigned i = 0; i < num_ifaces_; i++)
|
|
{
|
|
ifaces_[i].template construct<uavcan::IPoolAllocator&, uavcan::ISystemClock&,
|
|
std::mutex&, unsigned>(allocator_, clock_, mutex_, quota_per_queue);
|
|
}
|
|
}
|
|
};
|
|
|
|
static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
|
|
const std::string& name)
|
|
{
|
|
std::cout << "Initializing main node" << std::endl;
|
|
|
|
auto node = uavcan_linux::makeNode(ifaces);
|
|
|
|
node->setNodeID(nid);
|
|
node->setName(name.c_str());
|
|
|
|
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
|
|
|
|
const int start_res = node->start();
|
|
ENFORCE(0 == start_res);
|
|
|
|
node->setModeOperational();
|
|
return node;
|
|
}
|
|
|
|
template <unsigned QueuePoolSize>
|
|
static uavcan_linux::SubNodePtr initSubNode(unsigned num_ifaces, uavcan::INode& main_node)
|
|
{
|
|
std::cout << "Initializing sub node" << std::endl;
|
|
|
|
typedef VirtualCanDriver<QueuePoolSize> Driver;
|
|
|
|
std::shared_ptr<Driver> driver(new Driver(num_ifaces));
|
|
auto node = uavcan_linux::makeSubNode(driver);
|
|
node->setNodeID(main_node.getNodeID());
|
|
|
|
main_node.getDispatcher().installRxFrameListener(driver.get());
|
|
|
|
return node;
|
|
}
|
|
|
|
static void runMainNode(const uavcan_linux::NodePtr& node)
|
|
{
|
|
std::cout << "Running main node" << std::endl;
|
|
|
|
auto timer = node->makeTimer(uavcan::MonotonicDuration::fromMSec(10000), [&node](const uavcan::TimerEvent&)
|
|
{
|
|
node->logInfo("timer", "Your time is running out.");
|
|
// coverity[dont_call]
|
|
node->setVendorSpecificStatusCode(static_cast<std::uint16_t>(std::rand()));
|
|
});
|
|
|
|
/*
|
|
* We know that in this implementation, VirtualCanDriver inherits uavcan::IRxFrameListener, so we can simply
|
|
* restore the reference to ITxQueueInjector using dynamic_cast. In other implementations this may be
|
|
* unacceptable, so a reference to ITxQueueInjector will have to be passed using some other means.
|
|
*/
|
|
if (node->getDispatcher().getRxFrameListener() == nullptr)
|
|
{
|
|
throw std::logic_error("RX frame listener is not configured");
|
|
}
|
|
ITxQueueInjector& tx_injector = dynamic_cast<ITxQueueInjector&>(*node->getDispatcher().getRxFrameListener());
|
|
|
|
while (true)
|
|
{
|
|
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(1));
|
|
if (res < 0)
|
|
{
|
|
node->logError("spin", "Error %*", res);
|
|
}
|
|
// TX queue transfer occurs here.
|
|
tx_injector.injectTxFramesInto(*node);
|
|
}
|
|
}
|
|
|
|
static void runSubNode(const uavcan_linux::SubNodePtr& node)
|
|
{
|
|
std::cout << "Running sub node" << std::endl;
|
|
|
|
/*
|
|
* Log subscriber
|
|
*/
|
|
auto log_sub = node->makeSubscriber<uavcan::protocol::debug::LogMessage>(
|
|
[](const uavcan::ReceivedDataStructure<uavcan::protocol::debug::LogMessage>& msg)
|
|
{
|
|
std::cout << msg << std::endl;
|
|
});
|
|
|
|
/*
|
|
* Node status monitor
|
|
*/
|
|
struct NodeStatusMonitor : public uavcan::NodeStatusMonitor
|
|
{
|
|
explicit NodeStatusMonitor(uavcan::INode& node) : uavcan::NodeStatusMonitor(node) { }
|
|
|
|
virtual void handleNodeStatusChange(const NodeStatusChangeEvent& event) override
|
|
{
|
|
std::cout << "Remote node NID " << int(event.node_id.get()) << " changed status: "
|
|
<< event.old_status.toString() << " --> " << event.status.toString() << std::endl;
|
|
}
|
|
};
|
|
NodeStatusMonitor nsm(*node);
|
|
ENFORCE(0 == nsm.start());
|
|
|
|
/*
|
|
* KV subscriber
|
|
*/
|
|
auto kv_sub = node->makeSubscriber<uavcan::protocol::debug::KeyValue>(
|
|
[](const uavcan::ReceivedDataStructure<uavcan::protocol::debug::KeyValue>& msg)
|
|
{
|
|
std::cout << msg << std::endl;
|
|
});
|
|
|
|
/*
|
|
* KV publisher
|
|
*/
|
|
unsigned kv_value = 0;
|
|
auto kv_pub = node->makePublisher<uavcan::protocol::debug::KeyValue>();
|
|
auto timer = node->makeTimer(uavcan::MonotonicDuration::fromMSec(5000), [&](const uavcan::TimerEvent&)
|
|
{
|
|
uavcan::protocol::debug::KeyValue kv;
|
|
kv.key = "five_seconds";
|
|
kv.value = kv_value++;
|
|
const int res = kv_pub->broadcast(kv);
|
|
if (res < 0)
|
|
{
|
|
std::cerr << "Sub KV pub err " << res << std::endl;
|
|
}
|
|
});
|
|
|
|
while (true)
|
|
{
|
|
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(1000));
|
|
if (res < 0)
|
|
{
|
|
std::cerr << "SubNode spin error: " << res << std::endl;
|
|
}
|
|
}
|
|
}
|
|
|
|
int main(int argc, const char** argv)
|
|
{
|
|
try
|
|
{
|
|
testQueue();
|
|
|
|
constexpr unsigned VirtualIfacePoolSize = 32768;
|
|
|
|
if (argc < 3)
|
|
{
|
|
std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
|
|
return 1;
|
|
}
|
|
|
|
const int self_node_id = std::stoi(argv[1]);
|
|
std::vector<std::string> iface_names(argv + 2, argv + argc);
|
|
|
|
auto node = initMainNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
|
|
auto sub_node = initSubNode<VirtualIfacePoolSize>(iface_names.size(), *node);
|
|
|
|
std::thread sub_thread([&sub_node](){ runSubNode(sub_node); });
|
|
|
|
runMainNode(node);
|
|
|
|
if (sub_thread.joinable())
|
|
{
|
|
std::cout << "Waiting for the sub thread to join" << std::endl;
|
|
sub_thread.join();
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
catch (const std::exception& ex)
|
|
{
|
|
std::cerr << "Exception: " << ex.what() << std::endl;
|
|
return 1;
|
|
}
|
|
}
|