uavcannode_main.hpp

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#pragma once

#include <px4_platform_common/px4_config.h>
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <drivers/device/device.h>
#include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
#include <uavcan/node/timer.hpp>
/**
 * @file uavcan_main.hpp
 *
 * Defines basic functionality of UAVCAN node.
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 *         David Sidrane <david_s5@nscdg.com>
 */

#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN  1
#define UAVCAN_DEVICE_PATH  "/dev/uavcan/node"

// we add 1 to allow for busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)

/**
 * A UAVCAN node.
 */
class UavcanNode : public cdev::CDev
{
    /*
     * This memory is reserved for uavcan to use as over flow for message
     * Coming from multiple sources that my not be considered at development
     * time.
     *
     * The call to getNumFreeBlocks will tell how many blocks there are
     * free -and multiply it times getBlockSize to get the number of bytes
     *
     */
    static constexpr unsigned MemPoolSize        = 2048;

    /*
     * This memory is reserved for uavcan to use for queuing CAN frames.
     * At 1Mbit there is approximately one CAN frame every 200 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 maximum required
     * poll rate of ~1 mS
     *
     */
    static constexpr unsigned RxQueueLenPerIface = 5;

    /*
     * This memory is uses for the tasks stack size
     */

    static constexpr unsigned StackSize          = 2500;

public:
    typedef uavcan::Node<MemPoolSize> Node;
    typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
    typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;

    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);

    Node        &get_node() { return _node; }

    int     teardown();

    void        print_info();

    static UavcanNode *instance() { return _instance; }


    /* The bit rate that can be passed back to the bootloader */

    int32_t active_bitrate;


private:
    void        fill_node_info();
    int     init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events);
    void        node_spin_once();
    int     run();
    static void busevent_signal_trampoline();


    px4_sem_t       _sem;               ///< semaphore for scheduling the task
    int         _task = -1;         ///< handle to the OS task
    bool            _task_should_exit = false;  ///< flag to indicate to tear down the CAN driver

    static UavcanNode   *_instance;         ///< singleton pointer
    Node            _node;              ///< library instance
    pthread_mutex_t     _node_mutex;
    uavcan::GlobalTimeSyncSlave _time_sync_slave;

    typedef uavcan::MethodBinder<UavcanNode *,
        void (UavcanNode::*)(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &,
                     uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &)>
        BeginFirmwareUpdateCallBack;

    uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
    void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &req,
                     uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp);

public:

    /* A timer used to reboot after the response is sent */

    uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;

};