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AP_DroneCAN: DNA_Server: move database tasks to db class

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The server should not have raw read/write access to the database so the
database needs to take over the tasks.
This commit is contained in:
Thomas Watson 2024-08-05 10:39:37 -05:00 committed by Andrew Tridgell
parent a9774d2334
commit 01e285c681
2 changed files with 45 additions and 40 deletions
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48
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
View File

@ -53,7 +53,7 @@ AP_DroneCAN_DNA_Server::AP_DroneCAN_DNA_Server(AP_DroneCAN &ap_dronecan, CanardI
/* Method to generate 6byte hash from the Unique ID.
We return it packed inside the referenced NodeData structure */
void AP_DroneCAN_DNA_Server::getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const
void AP_DroneCAN_DNA_Server::Database::getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const
{
uint64_t hash = FNV_1_OFFSET_BASIS_64;
hash_fnv_1a(size, unique_id, &hash);
@ -91,7 +91,7 @@ void AP_DroneCAN_DNA_Server::Database::writeNodeData(const NodeData &data, uint8
/* Remove Node Data from Server Record in Storage,
and also clear Occupation Mask */
void AP_DroneCAN_DNA_Server::freeNodeID(uint8_t node_id)
void AP_DroneCAN_DNA_Server::Database::freeNodeID(uint8_t node_id)
{
if (node_id > MAX_NODE_ID) {
return;
@ -101,23 +101,23 @@ void AP_DroneCAN_DNA_Server::freeNodeID(uint8_t node_id)
//Eliminate from Server Record
memset(&node_data, 0, sizeof(node_data));
db.writeNodeData(node_data, node_id);
writeNodeData(node_data, node_id);
//Clear Occupation Mask
db.node_storage_occupied.clear(node_id);
node_storage_occupied.clear(node_id);
}
/* Go through Server Records, and fetch node id that matches the provided
Unique IDs hash.
Returns 0 if no Node ID was detected */
uint8_t AP_DroneCAN_DNA_Server::getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size)
uint8_t AP_DroneCAN_DNA_Server::Database::getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size)
{
NodeData node_data, cmp_node_data;
getHash(cmp_node_data, unique_id, size);
for (int i = MAX_NODE_ID; i > 0; i--) {
if (db.node_storage_occupied.get(i)) {
db.readNodeData(node_data, i);
if (node_storage_occupied.get(i)) {
readNodeData(node_data, i);
if (memcmp(node_data.hwid_hash, cmp_node_data.hwid_hash, sizeof(NodeData::hwid_hash)) == 0) {
return i; // node ID found
}
@ -128,7 +128,7 @@ uint8_t AP_DroneCAN_DNA_Server::getNodeIDForUniqueID(const uint8_t unique_id[],
/* Hash the Unique ID and add it to the Server Record
for specified Node ID. */
void AP_DroneCAN_DNA_Server::addNodeIDForUniqueID(uint8_t node_id, const uint8_t unique_id[], uint8_t size)
void AP_DroneCAN_DNA_Server::Database::addNodeIDForUniqueID(uint8_t node_id, const uint8_t unique_id[], uint8_t size)
{
NodeData node_data;
getHash(node_data, unique_id, size);
@ -136,9 +136,9 @@ void AP_DroneCAN_DNA_Server::addNodeIDForUniqueID(uint8_t node_id, const uint8_t
node_data.crc = crc_crc8(node_data.hwid_hash, sizeof(node_data.hwid_hash));
//Write Data to the records
db.writeNodeData(node_data, node_id);
writeNodeData(node_data, node_id);
db.node_storage_occupied.set(node_id);
node_storage_occupied.set(node_id);
}
//Checks if a valid Server Record is present for specified Node ID
@ -198,7 +198,7 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
}
// Making sure that the server is started with the same node ID
const uint8_t stored_own_node_id = getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
const uint8_t stored_own_node_id = db.getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
static bool reset_done;
if (stored_own_node_id != node_id) { // cannot match if not found
// We have no matching record of our own Unique ID do a reset
@ -209,7 +209,7 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
reset_done = true;
}
//Add ourselves to the Server Record
addNodeIDForUniqueID(node_id, own_unique_id, own_unique_id_len);
db.addNodeIDForUniqueID(node_id, own_unique_id, own_unique_id_len);
}
/* Also add to seen node id this is to verify
if any duplicates are on the bus carrying our Node ID */
@ -243,7 +243,7 @@ void AP_DroneCAN_DNA_Server::Database::reset()
/* Go through the Occupation mask for available Node ID
based on pseudo code provided in
uavcan/protocol/dynamic_node_id/1.Allocation.uavcan */
uint8_t AP_DroneCAN_DNA_Server::findFreeNodeID(uint8_t preferred)
uint8_t AP_DroneCAN_DNA_Server::Database::findFreeNodeID(uint8_t preferred)
{
if (preferred == 0) {
preferred = 125;
@ -251,7 +251,7 @@ uint8_t AP_DroneCAN_DNA_Server::findFreeNodeID(uint8_t preferred)
// Search up
uint8_t candidate = preferred;
while (candidate <= 125) {
if (!db.node_storage_occupied.get(candidate)) {
if (!node_storage_occupied.get(candidate)) {
return candidate;
}
candidate++;
@ -259,7 +259,7 @@ uint8_t AP_DroneCAN_DNA_Server::findFreeNodeID(uint8_t preferred)
//Search down
candidate = preferred;
while (candidate > 0) {
if (!db.node_storage_occupied.get(candidate)) {
if (!node_storage_occupied.get(candidate)) {
return candidate;
}
candidate--;
@ -312,7 +312,7 @@ void AP_DroneCAN_DNA_Server::verify_nodes()
break;
}
}
if (db.node_storage_occupied.get(curr_verifying_node)) {
if (db.isOccupied(curr_verifying_node)) {
uavcan_protocol_GetNodeInfoRequest request;
node_info_client.request(curr_verifying_node, request);
nodeInfo_resp_rcvd = false;
@ -391,9 +391,9 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
}
#endif
if (db.node_storage_occupied.get(transfer.source_node_id)) {
if (db.isOccupied(transfer.source_node_id)) {
//if node_id already registered, just verify if Unique ID matches as well
if (transfer.source_node_id == getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16)) {
if (transfer.source_node_id == db.getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16)) {
if (transfer.source_node_id == curr_verifying_node) {
nodeInfo_resp_rcvd = true;
}
@ -408,13 +408,13 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
} else {
/* Node Id was not allocated by us, or during this boot, let's register this in our records
Check if we allocated this Node before */
uint8_t prev_node_id = getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16);
uint8_t prev_node_id = db.getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16);
if (prev_node_id != 0) {
//yes we did, remove this registration
freeNodeID(prev_node_id);
db.freeNodeID(prev_node_id);
}
//add a new server record
addNodeIDForUniqueID(transfer.source_node_id, rsp.hardware_version.unique_id, 16);
db.addNodeIDForUniqueID(transfer.source_node_id, rsp.hardware_version.unique_id, 16);
//Verify as well
node_verified.set(transfer.source_node_id);
if (transfer.source_node_id == curr_verifying_node) {
@ -481,11 +481,11 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
if (rcvd_unique_id_offset == 16) {
//We have received the full Unique ID, time to do allocation
uint8_t resp_node_id = getNodeIDForUniqueID((const uint8_t*)rcvd_unique_id, 16);
uint8_t resp_node_id = db.getNodeIDForUniqueID((const uint8_t*)rcvd_unique_id, 16);
if (resp_node_id == 0) {
resp_node_id = findFreeNodeID(msg.node_id > MAX_NODE_ID ? 0 : msg.node_id);
resp_node_id = db.findFreeNodeID(msg.node_id > MAX_NODE_ID ? 0 : msg.node_id);
if (resp_node_id != 0) {
addNodeIDForUniqueID(resp_node_id, (const uint8_t*)rcvd_unique_id, 16);
db.addNodeIDForUniqueID(resp_node_id, (const uint8_t*)rcvd_unique_id, 16);
rsp.node_id = resp_node_id;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UC Node Alloc Failed!");

37
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.h
View File

@ -33,6 +33,27 @@ class AP_DroneCAN_DNA_Server
//Reset the Server Record
void reset();
// returns true if the given node ID is occupied (has valid stored data)
bool isOccupied(uint8_t node_id) {
return node_storage_occupied.get(node_id);
}
//Generates 6Byte long hash from the specified unique_id
void getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const;
//Methods to set, clear and report NodeIDs allocated/registered so far
void freeNodeID(uint8_t node_id);
//Go through List to find node id for specified unique id
uint8_t getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size);
//Add Node ID info to the record and setup necessary mask fields
void addNodeIDForUniqueID(uint8_t node_id, const uint8_t unique_id[], uint8_t size);
//Finds next available free Node, starting from preferred NodeID
uint8_t findFreeNodeID(uint8_t preferred);
private:
//Look in the storage and check if there's a valid Server Record there
bool isValidNodeDataAvailable(uint8_t node_id);
@ -45,7 +66,6 @@ class AP_DroneCAN_DNA_Server
// bitmasks containing a status for each possible node ID (except 0 and > MAX_NODE_ID)
Bitmask<128> node_storage_occupied; // storage has a valid entry
private:
StorageAccess *storage;
HAL_Semaphore sem;
};
@ -82,21 +102,6 @@ class AP_DroneCAN_DNA_Server
uint8_t rcvd_unique_id_offset;
uint32_t last_alloc_msg_ms;
//Generates 6Byte long hash from the specified unique_id
void getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const;
//Methods to set, clear and report NodeIDs allocated/registered so far
void freeNodeID(uint8_t node_id);
//Go through List to find node id for specified unique id
uint8_t getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size);
//Add Node ID info to the record and setup necessary mask fields
void addNodeIDForUniqueID(uint8_t node_id, const uint8_t unique_id[], uint8_t size);
//Finds next available free Node, starting from preferred NodeID
uint8_t findFreeNodeID(uint8_t preferred);
AP_DroneCAN &_ap_dronecan;
CanardInterface &_canard_iface;