uavcan_main.hpp

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

#pragma once

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

#include "uavcan_driver.hpp"
#include "uavcan_servers.hpp"
#include "allocator.hpp"
#include "actuators/esc.hpp"
#include "actuators/hardpoint.hpp"
#include "sensors/sensor_bridge.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 <lib/drivers/device/device.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/perf/perf_counter.h>

#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>

class UavcanNode;

/**
 * UAVCAN mixing class.
 * It is separate from UavcanNode to have 2 WorkItems and therefore allowing independent scheduling
 * (I.e. UavcanMixingInterface runs upon actuator_control updates, whereas UavcanNode runs at
 * a fixed rate or upon bus updates).
 * Both work items are expected to run on the same work queue.
 */
class UavcanMixingInterface : public OutputModuleInterface
{
public:
    UavcanMixingInterface(pthread_mutex_t &node_mutex, UavcanEscController &esc_controller)
        : OutputModuleInterface(MODULE_NAME "-actuators", px4::wq_configurations::uavcan),
          _node_mutex(node_mutex),
          _esc_controller(esc_controller) {}

    bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
               unsigned num_outputs, unsigned num_control_groups_updated) override;

    void mixerChanged() override;

    MixingOutput &mixingOutput() { return _mixing_output; }

protected:
    void Run() override;
private:
    friend class UavcanNode;
    pthread_mutex_t &_node_mutex;
    UavcanEscController &_esc_controller;
    MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
};

/**
 * A UAVCAN node.
 */
class UavcanNode : public cdev::CDev, public px4::ScheduledWorkItem, public ModuleParams
{
    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 ScheduleIntervalMs        = 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 callback 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 * ScheduleIntervalMs; // At

public:
    typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
    enum eServerAction : int {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; }

    int     teardown();

    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);

    static void busevent_signal_trampoline();

protected:
    void Run() override;
private:
    void        fill_node_info();
    int     init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events);
    void        node_spin_once();

    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; }

    void enable_idle_throttle_when_armed(bool value);

    px4::atomic_bool    _task_should_exit{false};   ///< flag to indicate to tear down the CAN driver
    px4::atomic<int>    _fw_server_action{None};
    int          _fw_server_status{-1};

    bool            _is_armed{false};       ///< the arming status of the actuators on the bus

    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;
    UavcanMixingInterface       _mixing_interface{_node_mutex, _esc_controller};
    UavcanHardpointController   _hardpoint_controller;
    uavcan::GlobalTimeSyncMaster    _time_sync_master;
    uavcan::GlobalTimeSyncSlave _time_sync_slave;
    uavcan::NodeStatusMonitor   _node_status_monitor;

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

    ITxQueueInjector        *_tx_injector{nullptr};

    bool                _idle_throttle_when_armed{false};
    int32_t             _idle_throttle_when_armed_param{0};

    uORB::Subscription      _parameter_update_sub{ORB_ID(parameter_update)};

    perf_counter_t          _cycle_perf;
    perf_counter_t          _interval_perf;

    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{false};

    uavcan::protocol::param::GetSet::Response *_setget_response{nullptr};

    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);

};