uavcan_main.cpp

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/**
 * @file uavcan_main.cpp
 *
 * Implements basic functionality of UAVCAN node.
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 * @author David Sidrane <david_s5@nscdg.com>
 * @author Andreas Jochum <Andreas@NicaDrone.com>
 *
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>

#include <cstdlib>
#include <cstring>
#include <fcntl.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>

#include <uORB/topics/esc_status.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>

#include "uavcan_module.hpp"
#include "uavcan_main.hpp"
#include <uavcan/util/templates.hpp>

#include <uavcan/protocol/param/ExecuteOpcode.hpp>

//todo:The Inclusion of file_server_backend is killing
// #include <sys/types.h> and leaving OK undefined
# define OK 0

/*
 * UavcanNode
 */
UavcanNode *UavcanNode::_instance;

UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
    CDev(UAVCAN_DEVICE_PATH),
    ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
    ModuleParams(nullptr),
    _node(can_driver, system_clock, _pool_allocator),
    _esc_controller(_node),
    _hardpoint_controller(_node),
    _time_sync_master(_node),
    _time_sync_slave(_node),
    _node_status_monitor(_node),
    _cycle_perf(perf_alloc(PC_ELAPSED, "uavcan: cycle time")),
    _interval_perf(perf_alloc(PC_INTERVAL, "uavcan: cycle interval")),
    _master_timer(_node)
{
    int res = pthread_mutex_init(&_node_mutex, nullptr);

    if (res < 0) {
        std::abort();
    }

    res = px4_sem_init(&_server_command_sem, 0, 0);

    if (res < 0) {
        std::abort();
    }

    /* _server_command_sem use case is a signal */
    px4_sem_setprotocol(&_server_command_sem, SEM_PRIO_NONE);
}

UavcanNode::~UavcanNode()
{
    fw_server(Stop);

    if (_instance) {

        /* tell the task we want it to go away */
        _task_should_exit.store(true);
        ScheduleNow();

        unsigned i = 10;

        do {
            /* wait 5ms - it should wake every 10ms or so worst-case */
            usleep(5000);

            if (--i == 0) {
                break;
            }

        } while (_instance);
    }

    // Removing the sensor bridges
    _sensor_bridges.clear();

    pthread_mutex_destroy(&_node_mutex);
    px4_sem_destroy(&_server_command_sem);

    perf_free(_cycle_perf);
    perf_free(_interval_perf);
}

int
UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
{
    int rv = -1;

    if (UavcanNode::instance()) {
        if (!std::strncmp(px4_board_name(), "PX4_FMU_V2", 9)) {
            hwver.major = 2;

        } else {
            ; // All other values of px4_board_name() resolve to zero
        }

        mfguid_t mfgid = {};
        board_get_mfguid(mfgid);
        uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
        rv = 0;
    }

    return rv;
}

int
UavcanNode::print_params(uavcan::protocol::param::GetSet::Response &resp)
{
    if (resp.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
        return std::printf("name: %s %lld\n", resp.name.c_str(),
                   resp.value.to<uavcan::protocol::param::Value::Tag::integer_value>());

    } else if (resp.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
        return std::printf("name: %s %.4f\n", resp.name.c_str(),
                   static_cast<double>(resp.value.to<uavcan::protocol::param::Value::Tag::real_value>()));

    } else if (resp.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
        return std::printf("name: %s %d\n", resp.name.c_str(),
                   resp.value.to<uavcan::protocol::param::Value::Tag::boolean_value>());

    } else if (resp.value.is(uavcan::protocol::param::Value::Tag::string_value)) {
        return std::printf("name: %s '%s'\n", resp.name.c_str(),
                   resp.value.to<uavcan::protocol::param::Value::Tag::string_value>().c_str());
    }

    return -1;
}

void
UavcanNode::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
{
    uavcan::protocol::param::ExecuteOpcode::Response resp;
    _callback_success = result.isSuccessful();
    resp = result.getResponse();
    _callback_success &= resp.ok;
}

int
UavcanNode::save_params(int remote_node_id)
{
    uavcan::protocol::param::ExecuteOpcode::Request opcode_req;
    opcode_req.opcode = opcode_req.OPCODE_SAVE;
    uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> client(_node);
    client.setCallback(ExecuteOpcodeCallback(this, &UavcanNode::cb_opcode));
    _callback_success = false;
    int call_res = client.call(remote_node_id, opcode_req);

    if (call_res >= 0) {
        while (client.hasPendingCalls()) {
            usleep(10000);
        }
    }

    if (!_callback_success) {
        std::printf("Failed to save parameters: %d\n", call_res);
        return -1;
    }

    return 0;
}

void
UavcanNode::cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result)
{
    uavcan::protocol::RestartNode::Response resp;
    _callback_success = result.isSuccessful();
    resp = result.getResponse();
    _callback_success &= resp.ok;
}

int
UavcanNode::reset_node(int remote_node_id)
{
    uavcan::protocol::RestartNode::Request restart_req;
    restart_req.magic_number = restart_req.MAGIC_NUMBER;
    uavcan::ServiceClient<uavcan::protocol::RestartNode, RestartNodeCallback> client(_node);
    client.setCallback(RestartNodeCallback(this, &UavcanNode::cb_restart));
    _callback_success = false;
    int call_res = client.call(remote_node_id, restart_req);

    if (call_res >= 0) {
        while (client.hasPendingCalls()) {
            usleep(10000);
        }
    }

    if (!call_res) {
        std::printf("Failed to reset node: %d\n", remote_node_id);
        return -1;
    }

    return 0;
}

int
UavcanNode::list_params(int remote_node_id)
{
    int rv = 0;
    int index = 0;
    uavcan::protocol::param::GetSet::Response resp;
    set_setget_response(&resp);

    while (true) {
        uavcan::protocol::param::GetSet::Request req;
        req.index =  index++;
        _callback_success = false;
        int call_res = get_set_param(remote_node_id, nullptr, req);

        if (call_res < 0 || !_callback_success) {
            std::printf("Failed to get param: %d\n", call_res);
            rv = -1;
            break;
        }

        if (resp.name.empty()) { // Empty name means no such param, which means we're finished
            break;
        }

        print_params(resp);
    }

    free_setget_response();
    return rv;
}

void
UavcanNode::cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
{
    _callback_success = result.isSuccessful();
    *_setget_response = result.getResponse();
}

int
UavcanNode::get_set_param(int remote_node_id, const char *name, uavcan::protocol::param::GetSet::Request &req)
{
    if (name != nullptr) {
        req.name = name;
    }

    uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> client(_node);
    client.setCallback(GetSetCallback(this, &UavcanNode::cb_setget));
    _callback_success = false;
    int call_res = client.call(remote_node_id, req);

    if (call_res >= 0) {

        while (client.hasPendingCalls()) {
            usleep(10000);
        }

        if (!_callback_success) {
            call_res = -1;
        }
    }

    return call_res;
}

int
UavcanNode::set_param(int remote_node_id, const char *name, char *value)
{
    uavcan::protocol::param::GetSet::Request req;
    uavcan::protocol::param::GetSet::Response resp;
    set_setget_response(&resp);
    int rv = get_set_param(remote_node_id, name, req);

    if (rv < 0 || resp.name.empty()) {
        std::printf("Failed to retrieve param: %s\n", name);
        rv = -1;

    } else {

        rv = 0;
        req = {};

        if (resp.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
            int64_t i = std::strtoull(value, NULL, 10);
            int64_t min = resp.min_value.to<uavcan::protocol::param::NumericValue::Tag::integer_value>();
            int64_t max = resp.max_value.to<uavcan::protocol::param::NumericValue::Tag::integer_value>();

            if (i >= min &&  i <= max) {
                req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = i;

            } else {
                std::printf("Invalid value for: %s must be between %lld and %lld\n", name, min, max);
                rv = -1;
            }

        } else if (resp.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
            float f = static_cast<float>(std::atof(value));
            float min = resp.min_value.to<uavcan::protocol::param::NumericValue::Tag::real_value>();
            float max = resp.max_value.to<uavcan::protocol::param::NumericValue::Tag::real_value>();

            if (f >= min &&  f <= max) {
                req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = f;

            } else {
                std::printf("Invalid value for: %s must be between %.4f and %.4f\n", name, static_cast<double>(min),
                        static_cast<double>(max));
                rv = -1;
            }

        } else if (resp.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
            int8_t i = (value[0] == '1' || value[0] == 't') ? 1 : 0;
            req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = i;

        } else if (resp.value.is(uavcan::protocol::param::Value::Tag::string_value)) {
            req.value.to<uavcan::protocol::param::Value::Tag::string_value>() = value;
        }

        if (rv == 0) {
            rv = get_set_param(remote_node_id, name, req);

            if (rv < 0 || resp.name.empty()) {
                std::printf("Failed to set param: %s\n", name);
                return -1;
            }

            return 0;
        }
    }

    free_setget_response();
    return rv;
}

int
UavcanNode::get_param(int remote_node_id, const char *name)
{
    uavcan::protocol::param::GetSet::Request req;
    uavcan::protocol::param::GetSet::Response resp;
    set_setget_response(&resp);
    int rv = get_set_param(remote_node_id, name, req);

    if (rv < 0 || resp.name.empty()) {
        std::printf("Failed to get param: %s\n", name);
        rv = -1;

    } else {
        print_params(resp);
        rv = 0;
    }

    free_setget_response();
    return rv;
}

void
UavcanNode::update_params()
{
    _mixing_interface.updateParams();
}

int
UavcanNode::start_fw_server()
{
    int rv = -1;
    _fw_server_action.store((int)Busy);
    UavcanServers   *_servers = UavcanServers::instance();

    if (_servers == nullptr) {

        rv = UavcanServers::start(_node);

        if (rv >= 0) {
            /*
             * Set our pointer to to the injector
             *  This is a work around as
             *  main_node.getDispatcher().installRxFrameListener(driver.get());
             *  would require a dynamic cast and rtti is not enabled.
             */
            UavcanServers::instance()->attachITxQueueInjector(&_tx_injector);
        }
    }

    _fw_server_action.store((int)None);
    px4_sem_post(&_server_command_sem);
    return rv;
}

int
UavcanNode::request_fw_check()
{
    int rv = -1;
    _fw_server_action.store((int)Busy);
    UavcanServers *_servers  = UavcanServers::instance();

    if (_servers != nullptr) {
        _servers->requestCheckAllNodesFirmwareAndUpdate();
        rv = 0;
    }

    _fw_server_action.store((int)None);
    px4_sem_post(&_server_command_sem);
    return rv;
}

int
UavcanNode::stop_fw_server()
{
    int rv = -1;
    _fw_server_action.store((int)Busy);
    UavcanServers *_servers = UavcanServers::instance();

    if (_servers != nullptr) {
        /*
         * Set our pointer to to the injector
         *  This is a work around as
         *  main_node.getDispatcher().remeveRxFrameListener();
         *  would require a dynamic cast and rtti is not enabled.
         */
        _tx_injector = nullptr;

        rv = _servers->stop();
    }

    _fw_server_action.store((int)None);
    px4_sem_post(&_server_command_sem);
    return rv;
}

int
UavcanNode::fw_server(eServerAction action)
{
    int rv = -EAGAIN;

    switch (action) {
    case Start:
    case Stop:
    case CheckFW:
        if (_fw_server_action.load() == (int)None) {
            _fw_server_action.store((int)action);
            px4_sem_wait(&_server_command_sem);
            rv = _fw_server_status;
        }

        break;

    default:
        rv = -EINVAL;
        break;
    }

    return rv;
}

int
UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
{
    if (_instance != nullptr) {
        PX4_WARN("Already started");
        return -1;
    }

    /*
     * CAN driver init
     * Note that we instantiate and initialize CanInitHelper only once, because the STM32's bxCAN driver
     * shipped with libuavcan does not support deinitialization.
     */
    static CanInitHelper *can = nullptr;

    if (can == nullptr) {

        can = new CanInitHelper();

        if (can == nullptr) {                    // We don't have exceptions so bad_alloc cannot be thrown
            PX4_ERR("Out of memory");
            return -1;
        }

        const int can_init_res = can->init(bitrate);

        if (can_init_res < 0) {
            PX4_ERR("CAN driver init failed %i", can_init_res);
            return can_init_res;
        }
    }

    /*
     * Node init
     */
    _instance = new UavcanNode(can->driver, UAVCAN_DRIVER::SystemClock::instance());

    if (_instance == nullptr) {
        PX4_ERR("Out of memory");
        return -1;
    }

    const int node_init_res = _instance->init(node_id, can->driver.updateEvent());

    if (node_init_res < 0) {
        delete _instance;
        _instance = nullptr;
        PX4_ERR("Node init failed %i", node_init_res);
        return node_init_res;
    }

    _instance->ScheduleOnInterval(ScheduleIntervalMs * 1000);

    return OK;
}

void
UavcanNode::fill_node_info()
{
    /* software version */
    uavcan::protocol::SoftwareVersion swver;

    // Extracting the first 8 hex digits of the git hash and converting them to int
    char fw_git_short[9] = {};
    std::memmove(fw_git_short, px4_firmware_version_string(), 8);
    char *end = nullptr;
    swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
    swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;

    // Too verbose for normal operation
    //PX4_INFO("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));

    _node.setSoftwareVersion(swver);

    /* hardware version */
    uavcan::protocol::HardwareVersion hwver;
    getHardwareVersion(hwver);
    _node.setHardwareVersion(hwver);
}

void
UavcanNode::busevent_signal_trampoline()
{
    if (_instance) {
        // trigger the work queue (Note, this is called from IRQ context)
        _instance->ScheduleNow();
    }
}

int
UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
{
    // Do regular cdev init
    int ret = CDev::init();

    if (ret != OK) {
        return ret;
    }

    bus_events.registerSignalCallback(UavcanNode::busevent_signal_trampoline);

    _node.setName("org.pixhawk.pixhawk");

    _node.setNodeID(node_id);

    fill_node_info();

    // Actuators
    ret = _esc_controller.init();

    if (ret < 0) {
        return ret;
    }

    ret = _hardpoint_controller.init();

    if (ret < 0) {
        return ret;
    }

    // Sensor bridges
    IUavcanSensorBridge::make_all(_node, _sensor_bridges);

    for (const auto &br : _sensor_bridges) {
        ret = br->init();

        if (ret < 0) {
            PX4_ERR("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
            return ret;
        }

        PX4_INFO("sensor bridge '%s' init ok", br->get_name());
    }

    _mixing_interface.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE);
    _mixing_interface.mixingOutput().setAllMinValues(0); // Can be changed to 1 later, according to UAVCAN_ESC_IDLT

    // Ensure we don't exceed maximum limits and assumptions. FIXME: these should be static assertions
    if (UavcanEscController::max_output_value() >= UavcanEscController::DISARMED_OUTPUT_VALUE
        || UavcanEscController::max_output_value() > (int)UINT16_MAX) {
        PX4_ERR("ESC max output value assertion failed");
        return -EINVAL;
    }

    _mixing_interface.mixingOutput().setAllMaxValues(UavcanEscController::max_output_value());
    _mixing_interface.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanEscController::MAX_RATE_HZ);

    param_get(param_find("UAVCAN_ESC_IDLT"), &_idle_throttle_when_armed_param);
    enable_idle_throttle_when_armed(true);

    /*  Start the Node   */
    return _node.start();
}

void
UavcanNode::node_spin_once()
{
    const int spin_res = _node.spinOnce();

    if (spin_res < 0) {
        PX4_ERR("node spin error %i", spin_res);
    }


    if (_tx_injector != nullptr) {
        _tx_injector->injectTxFramesInto(_node);
    }
}

void
UavcanNode::handle_time_sync(const uavcan::TimerEvent &)
{
    /*
     * Check whether there are higher priority masters in the network.
     * If there are, we need to activate the local slave in order to sync with them.
     */
    if (_time_sync_slave.isActive()) { // "Active" means that the slave tracks at least one remote master in the network
        if (_node.getNodeID() < _time_sync_slave.getMasterNodeID()) {
            /*
             * We're the highest priority master in the network.
             * We need to suppress the slave now to prevent it from picking up unwanted sync messages from
             * lower priority masters.
             */
            _time_sync_slave.suppress(true);  // SUPPRESS

        } else {
            /*
             * There is at least one higher priority master in the network.
             * We need to allow the slave to adjust our local clock in order to be in sync.
             */
            _time_sync_slave.suppress(false);  // UNSUPPRESS
        }

    } else {
        /*
         * There are no other time sync masters in the network, so we're the only time source.
         * The slave must be suppressed anyway to prevent it from disrupting the local clock if a new
         * lower priority master suddenly appears in the network.
         */
        _time_sync_slave.suppress(true);
    }

    /*
     * Publish the sync message now, even if we're not a higher priority master.
     * Other nodes will be able to pick the right master anyway.
     */
    _time_sync_master.publish();
}



void
UavcanNode::Run()
{
    pthread_mutex_lock(&_node_mutex);

    if (_output_count == 0) {
        // Set up the time synchronization
        const int slave_init_res = _time_sync_slave.start();

        if (slave_init_res < 0) {
            PX4_ERR("Failed to start time_sync_slave");
            ScheduleClear();
            return;
        }

        /* When we have a system wide notion of time update (i.e the transition from the initial
         * System RTC setting to the GPS) we would call UAVCAN_DRIVER::clock::setUtc() when that
         * happens, but for now we use adjustUtc with a correction of the hrt so that the
         * time bases are the same
         */
        UAVCAN_DRIVER::clock::adjustUtc(uavcan::UtcDuration::fromUSec(hrt_absolute_time()));
        _master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync));
        _master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000));

        _node_status_monitor.start();
        _node.setModeOperational();

        update_params();

        // XXX figure out the output count
        _output_count = 2;
    }


    perf_begin(_cycle_perf);
    perf_count(_interval_perf);

    node_spin_once(); // expected to be non-blocking

    // Check arming state
    const actuator_armed_s &armed = _mixing_interface.mixingOutput().armed();
    enable_idle_throttle_when_armed(!armed.soft_stop);

    // check for parameter updates
    if (_parameter_update_sub.updated()) {
        // clear update
        parameter_update_s pupdate;
        _parameter_update_sub.copy(&pupdate);

        // update parameters from storage
        update_params();
    }

    switch ((eServerAction)_fw_server_action.load()) {
    case Start:
        _fw_server_status = start_fw_server();
        break;

    case Stop:
        _fw_server_status = stop_fw_server();
        break;

    case CheckFW:
        _fw_server_status = request_fw_check();
        break;

    case None:
    default:
        break;
    }

    perf_end(_cycle_perf);

    pthread_mutex_unlock(&_node_mutex);

    if (_task_should_exit.load()) {
        _mixing_interface.mixingOutput().unregister();
        _mixing_interface.ScheduleClear();
        ScheduleClear();
        teardown();
        _instance = nullptr;
    }
}

void
UavcanNode::enable_idle_throttle_when_armed(bool value)
{
    value &= _idle_throttle_when_armed_param > 0;

    if (value != _idle_throttle_when_armed) {
        _mixing_interface.mixingOutput().setAllMinValues(value ? 1 : 0);
        _idle_throttle_when_armed = value;
    }
}

int
UavcanNode::teardown()
{
    px4_sem_post(&_server_command_sem);
    return 0;
}

int
UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
{
    int ret = OK;

    lock();

    switch (cmd) {
    case PWM_SERVO_SET_ARM_OK:
    case PWM_SERVO_CLEAR_ARM_OK:
    case PWM_SERVO_SET_FORCE_SAFETY_OFF:
        // these are no-ops, as no safety switch
        break;

    case MIXERIOCRESET:
        _mixing_interface.mixingOutput().resetMixerThreadSafe();

        break;

    case MIXERIOCLOADBUF: {
            const char *buf = (const char *)arg;
            unsigned buflen = strlen(buf);
            ret = _mixing_interface.mixingOutput().loadMixerThreadSafe(buf, buflen);
        }
        break;


    case UAVCAN_IOCS_HARDPOINT_SET: {
            const auto &hp_cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command *>(arg);
            _hardpoint_controller.set_command(hp_cmd.hardpoint_id, hp_cmd.command);
        }
        break;

    case UAVCAN_IOCG_NODEID_INPROGRESS: {
            UavcanServers   *_servers = UavcanServers::instance();

            if (_servers == nullptr) {
                // status unavailable
                ret = -EINVAL;
                break;

            } else if (_servers->guessIfAllDynamicNodesAreAllocated()) {
                // node discovery complete
                ret = -ETIME;
                break;

            } else {
                // node discovery in progress
                ret = OK;
                break;
            }
        }

    default:
        ret = -ENOTTY;
        break;
    }

    unlock();

    if (ret == -ENOTTY) {
        ret = CDev::ioctl(filp, cmd, arg);
    }

    return ret;
}


bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
        unsigned num_control_groups_updated)
{
    _esc_controller.update_outputs(stop_motors, outputs, num_outputs);
    return true;
}

void UavcanMixingInterface::Run()
{
    pthread_mutex_lock(&_node_mutex);
    _mixing_output.update();
    _mixing_output.updateSubscriptions(false);
    pthread_mutex_unlock(&_node_mutex);
}

void UavcanMixingInterface::mixerChanged()
{
    int rotor_count = 0;

    if (_mixing_output.mixers()) {
        rotor_count = _mixing_output.mixers()->get_multirotor_count();
    }

    _esc_controller.set_rotor_count(rotor_count);
}

void
UavcanNode::print_info()
{
    (void)pthread_mutex_lock(&_node_mutex);

    // Memory status
    printf("Pool allocator status:\n");
    printf("\tCapacity hard/soft: %u/%u blocks\n",
           _pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
    printf("\tReserved:  %u blocks\n", _pool_allocator.getNumReservedBlocks());
    printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());

    printf("\n");

    // UAVCAN node perfcounters
    printf("UAVCAN node status:\n");
    printf("\tInternal failures: %llu\n", _node.getInternalFailureCount());
    printf("\tTransfer errors:   %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount());
    printf("\tRX transfers:      %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
    printf("\tTX transfers:      %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());

    printf("\n");

    // CAN driver status
    for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
        printf("CAN%u status:\n", unsigned(i + 1));

        auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
        printf("\tHW errors: %llu\n", iface->getErrorCount());

        auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
        printf("\tIO errors: %llu\n", iface_perf_cnt.errors);
        printf("\tRX frames: %llu\n", iface_perf_cnt.frames_rx);
        printf("\tTX frames: %llu\n", iface_perf_cnt.frames_tx);
    }

    printf("\n");

    // ESC mixer status
    _mixing_interface.mixingOutput().printStatus();

    printf("\n");

    // Sensor bridges
    for (const auto &br : _sensor_bridges) {
        printf("Sensor '%s':\n", br->get_name());
        br->print_status();
        printf("\n");
    }

    // Printing all nodes that are online
    printf("Online nodes (Node ID, Health, Mode):\n");
    _node_status_monitor.forEachNode([](uavcan::NodeID nid, uavcan::NodeStatusMonitor::NodeStatus ns) {
        static constexpr const char *HEALTH[] = {"OK", "WARN", "ERR", "CRIT"};
        static constexpr const char *MODES[] = {"OPERAT", "INIT", "MAINT", "SW_UPD", "?", "?", "?", "OFFLN"};
        printf("\t% 3d %-10s %-10s\n", int(nid.get()), HEALTH[ns.health], MODES[ns.mode]);
    });

    printf("\n");

    perf_print_counter(_cycle_perf);
    perf_print_counter(_interval_perf);

    (void)pthread_mutex_unlock(&_node_mutex);
}

void
UavcanNode::shrink()
{
    (void)pthread_mutex_lock(&_node_mutex);
    _pool_allocator.shrink();
    (void)pthread_mutex_unlock(&_node_mutex);
}

void
UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command)
{
    (void)pthread_mutex_lock(&_node_mutex);
    _hardpoint_controller.set_command(hardpoint_id, command);
    (void)pthread_mutex_unlock(&_node_mutex);
}

/*
 * App entry point
 */
static void print_usage()
{
    PX4_INFO("usage: \n"
         "\tuavcan {start [fw]|status|stop [all|fw]|shrink|arm|disarm|update fw|\n"
         "\t        param [set|get|list|save] <node-id> <name> <value>|reset <node-id>|\n"
         "\t        hardpoint set <id> <command>}");
}

extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);

int uavcan_main(int argc, char *argv[])
{
    if (argc < 2) {
        print_usage();
        ::exit(1);
    }

    bool fw = argc > 2 && !std::strcmp(argv[2], "fw");

    if (!std::strcmp(argv[1], "start")) {
        if (UavcanNode::instance()) {
            if (fw && UavcanServers::instance() == nullptr) {
                int rv = UavcanNode::instance()->fw_server(UavcanNode::Start);

                if (rv < 0) {
                    PX4_ERR("Firmware Server Failed to Start %d", rv);
                    ::exit(rv);
                }

                ::exit(0);
            }

            // Already running, no error
            PX4_INFO("already started");
            ::exit(0);
        }

        // Node ID
        int32_t node_id = 1;
        (void)param_get(param_find("UAVCAN_NODE_ID"), &node_id);

        if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
            PX4_ERR("Invalid Node ID %i", node_id);
            ::exit(1);
        }

        // CAN bitrate
        int32_t bitrate = 1000000;
        (void)param_get(param_find("UAVCAN_BITRATE"), &bitrate);

        // Start
        PX4_INFO("Node ID %u, bitrate %u", node_id, bitrate);
        return UavcanNode::start(node_id, bitrate);
    }

    /* commands below require the app to be started */
    UavcanNode *const inst = UavcanNode::instance();

    if (!inst) {
        errx(1, "application not running");
    }

    if (fw && !std::strcmp(argv[1], "update")) {
        if (UavcanServers::instance() == nullptr) {
            errx(1, "firmware server is not running");
        }

        int rv = UavcanNode::instance()->fw_server(UavcanNode::CheckFW);
        ::exit(rv);
    }

    if (fw && (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info"))) {
        printf("Firmware Server is %s\n", UavcanServers::instance() ? "Running" : "Stopped");
        ::exit(0);
    }

    if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
        inst->print_info();
        ::exit(0);
    }

    if (!std::strcmp(argv[1], "shrink")) {
        inst->shrink();
        ::exit(0);
    }

    /*
     * Parameter setting commands
     *
     *  uavcan param list <node>
     *  uavcan param save <node>
     *  uavcan param get <node> <name>
     *  uavcan param set <node> <name> <value>
     *
     */
    int node_arg = !std::strcmp(argv[1], "reset") ? 2 : 3;

    if (!std::strcmp(argv[1], "param") || node_arg == 2) {
        if (argc < node_arg + 1) {
            errx(1, "Node id required");
        }

        int nodeid = atoi(argv[node_arg]);

        if (nodeid  == 0 || nodeid  > 127 || nodeid  == inst->get_node().getNodeID().get()) {
            errx(1, "Invalid Node id");
        }

        if (node_arg == 2) {

            return inst->reset_node(nodeid);

        } else if (!std::strcmp(argv[2], "list")) {

            return inst->list_params(nodeid);

        } else if (!std::strcmp(argv[2], "save")) {

            return inst->save_params(nodeid);

        } else if (!std::strcmp(argv[2], "get")) {
            if (argc < 5) {
                errx(1, "Name required");
            }

            return inst->get_param(nodeid, argv[4]);

        } else if (!std::strcmp(argv[2], "set")) {
            if (argc < 5) {
                errx(1, "Name required");
            }

            if (argc < 6) {
                errx(1, "Value required");
            }

            return inst->set_param(nodeid, argv[4], argv[5]);
        }
    }

    if (!std::strcmp(argv[1], "hardpoint")) {
        if (!std::strcmp(argv[2], "set") && argc > 4) {
            const int hardpoint_id = atoi(argv[3]);
            const int command = atoi(argv[4]);

            // Sanity check - weed out negative values, check against maximums
            if (hardpoint_id >= 0 && hardpoint_id < 256 &&
                command >= 0 && command < 65536) {
                inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command);

            } else {
                errx(1, "Invalid argument");
            }

        } else {
            errx(1, "Invalid hardpoint command");
        }

        ::exit(0);
    }

    if (!std::strcmp(argv[1], "stop")) {
        if (fw) {

            int rv = inst->fw_server(UavcanNode::Stop);

            /* Let's recover any memory we can */

            inst->shrink();

            if (rv < 0) {
                PX4_ERR("Firmware Server Failed to Stop %d", rv);
                ::exit(rv);
            }

            ::exit(0);

        } else {
            delete inst;
            ::exit(0);
        }
    }

    print_usage();
    ::exit(1);
}