PX4-Autopilot/src/modules/uavcan/uavcan_main.hpp

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#pragma once

#include <px4_config.h>

#include <uavcan_stm32/uavcan_stm32.hpp>
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include <uavcan/protocol/global_time_sync_master.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp>

#include <drivers/device/device.h>
#include <systemlib/perf_counter.h>

#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/actuator_direct.h>

#include "actuators/esc.hpp"
#include "actuators/hardpoint.hpp"
#include "sensors/sensor_bridge.hpp"

#include "uavcan_servers.hpp"
#include "allocator.hpp"

/**
 * @file uavcan_main.hpp
 *
 * Defines basic functinality of UAVCAN node.
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4

// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)

// IOCTL control codes
static constexpr unsigned UAVCANIOCBASE = 0x7800;
static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10);

/**
 * A UAVCAN node.
 */
class UavcanNode : public device::CDev
{
	static constexpr unsigned MaxBitRatePerSec   = 1000000;
	static constexpr unsigned bitPerFrame        = 148;
	static constexpr unsigned FramePerSecond     = MaxBitRatePerSec / bitPerFrame;
	static constexpr unsigned FramePerMSecond    = ((FramePerSecond / 1000) + 1);

	static constexpr unsigned PollTimeoutMs      = 3;


	/*
	 * This memory is reserved for uavcan to use for queuing CAN frames.
	 * At 1Mbit there is approximately one CAN frame every 145 uS.
	 * The number of buffers sets how long you can go without calling
	 * node_spin_xxxx. Since our task is the only one running and the
	 * driver will light the fd when there is a CAN frame we can nun with
	 * a minimum number of buffers to conserver memory. Each buffer is
	 * 32 bytes. So 5 buffers costs 160 bytes and gives us a poll rate
	 * of ~1 mS
	 *  1000000/200
	 */

	static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At
	static constexpr unsigned StackSize          = 1800;

public:
	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
	enum eServerAction {None, Start, Stop, CheckFW , Busy};

	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);

	virtual		~UavcanNode();

	virtual int	ioctl(file *filp, int cmd, unsigned long arg);

	static int	start(uavcan::NodeID node_id, uint32_t bitrate);

	uavcan::Node<>	&get_node() { return _node; }

	// TODO: move the actuator mixing stuff into the ESC controller class
	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);

	void		subscribe();

	int		teardown();
	int		arm_actuators(bool arm);

	void		print_info();

	void		shrink();

	static UavcanNode *instance() { return _instance; }
	static int         getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
	int             fw_server(eServerAction action);
	void            attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
	int             list_params(int remote_node_id);
	int             save_params(int remote_node_id);
	int             set_param(int remote_node_id, const char *name, char *value);
	int             get_param(int remote_node_id, const char *name);
	int             reset_node(int remote_node_id);

	void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);

private:
	void		fill_node_info();
	int		init(uavcan::NodeID node_id);
	void		node_spin_once();
	int		run();
	int		add_poll_fd(int fd);			///< add a fd to poll list, returning index into _poll_fds[]
	int             start_fw_server();
	int             stop_fw_server();
	int             request_fw_check();
	int             print_params(uavcan::protocol::param::GetSet::Response &resp);
	int             get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
	void            set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
	{
		_setget_response = resp;
	}
	void            free_setget_response(void)
	{
		_setget_response = nullptr;
	}

	int			_task = -1;			///< handle to the OS task
	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
	volatile eServerAction            _fw_server_action;
	int                      _fw_server_status;
	int			_armed_sub = -1;		///< uORB subscription of the arming status
	actuator_armed_s	_armed = {};			///< the arming request of the system
	bool			_is_armed = false;		///< the arming status of the actuators on the bus

	int			_test_motor_sub = -1;   ///< uORB subscription of the test_motor status
	test_motor_s		_test_motor = {};
	bool			_test_in_progress = false;

	unsigned		_output_count = 0;		///< number of actuators currently available

	static UavcanNode	*_instance;			///< singleton pointer

	uavcan_node::Allocator _pool_allocator;

	uavcan::Node<>		_node;				///< library instance
	pthread_mutex_t		_node_mutex;
	px4_sem_t                   _server_command_sem;
	UavcanEscController	_esc_controller;
	UavcanHardpointController _hardpoint_controller;
	uavcan::GlobalTimeSyncMaster _time_sync_master;
	uavcan::GlobalTimeSyncSlave _time_sync_slave;

	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges

	MixerGroup		*_mixers = nullptr;
	ITxQueueInjector        *_tx_injector;
	uint32_t		_groups_required = 0;
	uint32_t		_groups_subscribed = 0;
	int			_control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	actuator_controls_s 	_controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	orb_id_t		_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	pollfd			_poll_fds[UAVCAN_NUM_POLL_FDS] = {};
	unsigned		_poll_fds_num = 0;

	int			_actuator_direct_sub = -1;   ///< uORB subscription of the actuator_direct topic
	uint8_t			_actuator_direct_poll_fd_num = 0;
	actuator_direct_s	_actuator_direct = {};

	actuator_outputs_s	_outputs = {};

	// index into _poll_fds for each _control_subs handle
	uint8_t			_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];

	perf_counter_t _perfcnt_node_spin_elapsed        = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
	perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
	perf_counter_t _perfcnt_esc_mixer_total_elapsed  = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");

	void handle_time_sync(const uavcan::TimerEvent &);

	typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;
	uavcan::TimerEventForwarder<TimerCallback> _master_timer;

	bool _callback_success;
	uavcan::protocol::param::GetSet::Response *_setget_response;
	typedef uavcan::MethodBinder<UavcanNode *,
		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
	typedef uavcan::MethodBinder<UavcanNode *,
		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> ExecuteOpcodeCallback;
	typedef uavcan::MethodBinder<UavcanNode *,
		void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
	void cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
	void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
	void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);

};