NodeManager.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file NodeManager.hpp
*
* Defines basic implementation of UAVCAN PNP for dynamic Node ID
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include "CanardInterface.hpp"
#include <uavcan/node/ID_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
class NodeManager;
#include "Services/AccessRequest.hpp"
#include "Services/ListRequest.hpp"
//TODO make this an object instead?
typedef struct {
uint8_t node_id;
uint8_t unique_id[16];
bool register_setup;
uint16_t register_index;
} UavcanNodeEntry;
class NodeManager
{
public:
NodeManager(CanardInstance &ins) : _canard_instance(ins), _access_request(ins), _list_request(ins) { };
bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
void HandleListResponse(CanardNodeID node_id, uavcan_register_List_Response_1_0 &msg);
void update();
private:
CanardInstance &_canard_instance;
CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
UavcanNodeEntry nodeid_registry[16] {0}; //TODO configurable or just rewrite
UavcanAccessServiceRequest _access_request;
UavcanListServiceRequest _list_request;
bool nodeRegisterSetup = 0;
hrt_abstime _register_request_last{0};
//TODO work this out
const char *gps_uorb_register_name = "uavcan.pub.gnss_uorb.id";
const char *bms_status_register_name = "uavcan.pub.battery_status.id";
};