uavcan_main.hpp

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#pragma once

#include <px4_config.h>

#include "uavcan_driver.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/node_status_monitor.hpp>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp>

#include <drivers/device/device.h>
#include <perf/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"

#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)

class UavcanNode : public cdev::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     = 2400;

public:
    typedef UAVCAN_DRIVER::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();

    void        hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);

    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);

private:
    void        fill_node_info();
    int     init(uavcan::NodeID node_id);
    void        node_spin_once();
    int     run();
    int     add_poll_fd(int fd);            
    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        update_params();
    void        set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
    {
        _setget_response = resp;
    }
    void        free_setget_response(void)
    {
        _setget_response = nullptr;
    }

    int         _task = -1;         
    bool            _task_should_exit = false;  
    volatile eServerAction  _fw_server_action;
    int          _fw_server_status;
    int         _armed_sub = -1;        
    actuator_armed_s    _armed = {};            
    bool            _is_armed = false;      

    int         _test_motor_sub = -1;   
    test_motor_s        _test_motor = {};
    bool            _test_in_progress = false;

    unsigned        _output_count = 0;      

    static UavcanNode   *_instance;         

    uavcan_node::Allocator   _pool_allocator;

    uavcan::Node<>          _node;              
    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;
    uavcan::NodeStatusMonitor   _node_status_monitor;

    List<IUavcanSensorBridge *> _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;
    int32_t             _idle_throttle_when_armed = 0;

    int             _actuator_direct_sub = -1;   
    uint8_t             _actuator_direct_poll_fd_num = 0;
    actuator_direct_s       _actuator_direct = {};

    actuator_outputs_s      _outputs = {};

    perf_counter_t          _perf_control_latency;

    Mixer::Airmode          _airmode = Mixer::Airmode::disabled;

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

    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);

};