AP_CANManager: remove KDECAN from CANTester

libraries/AP_CANManager/AP_CANTester.cpp

@@ -30,7 +30,6 @@
 #include <uavcan/equipment/esc/Status.hpp>
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <AP_HAL/utility/sparse-endian.h>
-#include "AP_CANTester_KDECAN.h"
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo CANTester::var_info[] = {
@@ -38,7 +37,7 @@ const AP_Param::GroupInfo CANTester::var_info[] = {
     // @DisplayName: CAN Test Index
     // @Description: Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
     // @Range: 0 4
-    // @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,5:TEST_KDE_CAN, 6:TEST_UAVCAN_ESC,  7:TEST_UAVCAN_FD_ESC
+    // @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,6:TEST_UAVCAN_ESC,7:TEST_UAVCAN_FD_ESC
     // @User: Advanced
     AP_GROUPINFO("ID", 1, CANTester, _test_id, 0),
 
@@ -192,18 +191,6 @@ void CANTester::main_thread()
                 gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for DroneCAN_DNA_TEST");
             }
             break;
-        case CANTester::TEST_KDE_CAN:
-            if (_can_ifaces[1] == nullptr) {
-                gcs().send_text(MAV_SEVERITY_ALERT, "********Running KDE CAN Test********");
-                if (test_kdecan()) {
-                    gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Pass********");
-                } else {
-                    gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Fail********");
-                }
-            } else {
-                gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for TEST_KDE_CAN");
-            }
-            break;
         case CANTester::TEST_UAVCAN_ESC:
             if (_can_ifaces[1] == nullptr) {
                 gcs().send_text(MAV_SEVERITY_ALERT, "********Running DroneCAN ESC Test********");
@@ -500,47 +487,6 @@ bool CANTester::test_uavcan_dna()
     return true;
 }
 
-/*****************************************
- *              KDE CAN Test             *
- *****************************************/
-bool CANTester::test_kdecan()
-{
-    AP_CANTester_KDECAN* kdecan_test = new AP_CANTester_KDECAN;
-    if (kdecan_test == nullptr) {
-        gcs().send_text(MAV_SEVERITY_ERROR, "Failed to allocate KDECAN Tester");
-        return false;
-    }
-    kdecan_test->init(_can_ifaces[0]);
-
-    while (true) {
-        kdecan_test->loop();
-        static uint32_t last_print_ms;
-        static uint32_t last_enumsend_ms;
-        static uint8_t enum_count = 0;
-        uint32_t now = AP_HAL::millis();
-        if (now - last_print_ms >= 1000) {
-            last_print_ms = now;
-            kdecan_test->print_stats();
-        }
-        if (!_kdecan_enumeration) {
-            enum_count = 0;
-        }
-        if (now - last_enumsend_ms >= 2000 && enum_count < 4 && _kdecan_enumeration) {
-            last_enumsend_ms = now;
-            if (kdecan_test->send_enumeration(enum_count)) {
-                enum_count++;
-            }
-        }
-    }
-    return true;
-}
-
-bool CANTester::run_kdecan_enumeration(bool start_stop)
-{
-    _kdecan_enumeration = start_stop;
-    return true;
-}
-
 /***********************************************
  *                DroneCAN ESC                   *
  * *********************************************/

libraries/AP_CANManager/AP_CANTester.h

@@ -40,7 +40,6 @@ public:
 
     void init(uint8_t driver_index, bool enable_filters) override;
     bool add_interface(AP_HAL::CANIface* can_iface) override;
-    bool run_kdecan_enumeration(bool start_stop);
 
     static CANTester *get_cantester(uint8_t driver_index);
 
@@ -51,8 +50,8 @@ private:
         TEST_LOOPBACK,
         TEST_BUSOFF_RECOVERY,
         TEST_UAVCAN_DNA,
-        TEST_KDE_CAN,
+
-        TEST_UAVCAN_ESC,
+        TEST_UAVCAN_ESC = 6,
         TEST_UAVCAN_FD_ESC,
         TEST_END,
     };
@@ -78,8 +77,6 @@ private:
 
     bool test_uavcan_dna();
 
-    bool test_kdecan();
-
     bool test_uavcan_esc(bool enable_canfd);
 
     // write frame on CAN bus, returns true on success
@@ -104,7 +101,6 @@ private:
     AP_Int32 _test_id;
     AP_Int32 _loop_rate;
     uint8_t _num_ifaces;
-    bool _kdecan_enumeration;
 };
 #endif //#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
 

libraries/AP_CANManager/AP_CANTester_KDECAN.cpp

@@ -1,236 +0,0 @@
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
- * Author: Francisco Ferreira
- * Modified for CANManager by Siddharth B Purohit
- */
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Common/AP_Common.h>
-
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED
-#include "AP_CANTester_KDECAN.h"
-#include "AP_CANManager.h"
-#include <AP_Math/AP_Math.h>
-#include <AP_HAL/utility/sparse-endian.h>
-#include <AP_Vehicle/AP_Vehicle_Type.h>
-#include <GCS_MAVLink/GCS.h>
-
-#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "TestKDECAN",  fmt, ##args); } while (0)
-extern const AP_HAL::HAL& hal;
-
-void AP_CANTester_KDECAN::count_msg(uint32_t frame_id)
-{
-    for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
-        if (counters[i].frame_id == frame_id) {
-            counters[i].count++;
-            break;
-        }
-        if (counters[i].frame_id == 0) {
-            counters[i].frame_id = frame_id;
-            counters[i].count++;
-            break;
-        }
-    }
-}
-
-bool AP_CANTester_KDECAN::init(AP_HAL::CANIface* can_iface)
-{
-    _can_iface = can_iface;
-    if (_can_iface == nullptr) {
-        debug_can(AP_CANManager::LOG_ERROR, "CANIface is null, abort!");
-        return false;
-    }
-
-    if (!_can_iface->is_initialized()) {
-        debug_can(AP_CANManager::LOG_ERROR, "Can not initialised");
-        return false;
-    }
-
-    if (!_can_iface->set_event_handle(&_event_handle)) {
-        debug_can(AP_CANManager::LOG_ERROR, "Failed to set Event Handle");
-        return false;
-    }
-    debug_can(AP_CANManager::LOG_ERROR, "init done");
-    return true;
-}
-
-void AP_CANTester_KDECAN::loop(void)
-{
-    if (_can_iface == nullptr) {
-        return;
-    }
-
-    AP_HAL::CANFrame empty_frame { (0 | AP_HAL::CANFrame::FlagEFF), nullptr, 0 };
-    bool read_select = true;
-    bool write_select = false;
-    bool select_ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + 1000);
-
-    if (select_ret && read_select) {
-        AP_HAL::CANFrame recv_frame;
-        uint64_t rx_time;
-        AP_HAL::CANIface::CanIOFlags flags {};
-        int16_t res = _can_iface->receive(recv_frame, rx_time, flags);
-        if (res == 1) {
-            uint32_t id = recv_frame.id & AP_HAL::CANFrame::MaskExtID;
-            uint8_t object_address = id & 0xFF;
-            uint8_t esc_num = uint8_t((id >> 8) & 0xFF);
-
-            count_msg(id);
-
-            uint8_t i = 0;
-            uint8_t n = NUM_ESCS;
-
-            if (esc_num != BROADCAST_NODE_ID) {
-                for (; i < NUM_ESCS; i++) {
-                    if (object_address == UPDATE_NODE_ID_OBJ_ADDR) {
-                        uint64_t mcu_id;
-                        memcpy (&mcu_id, recv_frame.data, sizeof(mcu_id));
-                        mcu_id = be64toh(mcu_id);
-                        if (_esc_info[i].mcu_id == mcu_id) {
-                            n = i + 1;
-                            break;
-                        }
-                    } else if (_esc_info[i].node_id == esc_num) {
-                        n = i + 1;
-                        break;
-                    }
-                }
-            }
-
-            while (i < n) {
-                AP_HAL::CANFrame res_frame;
-
-                switch (object_address) {
-                case ESC_INFO_OBJ_ADDR: {
-                    uint8_t info[5] { 1, 2, 3, 4, 0 };
-
-                    res_frame.dlc = 5;
-                    memcpy(res_frame.data, info, 5);
-
-                    break;
-                }
-                case SET_PWM_OBJ_ADDR: {
-                    if ((1 << (esc_num - 2) & _mask_received_pwm) && _mask_received_pwm != ((1 << _max_node_id) - 1)) {
-                        count_msg(0xFFFFFFF0);
-                        _mask_received_pwm = 0;
-                    }
-
-                    _mask_received_pwm |= 1 << (esc_num - 2);
-
-                    if (_mask_received_pwm == ((1 << _max_node_id) - 1)) {
-                        count_msg(0xFFFFFFFF);
-                        _mask_received_pwm = 0;
-                    }
-
-                    res_frame.dlc = 0;
-
-                    break;
-                }
-                case UPDATE_NODE_ID_OBJ_ADDR: {
-                    if (_esc_info[i].enum_timeout_ms != 0
-                        && _esc_info[i].enum_timeout_ms >= AP_HAL::millis()) {
-                        _esc_info[i].node_id = esc_num;
-                        _max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
-                        gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Set node ID %d for ESC %d\n", esc_num, i);
-                    }
-
-                    _esc_info[i].enum_timeout_ms = 0;
-
-                    res_frame.dlc = 1;
-                    memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
-
-                    break;
-                }
-                case START_ENUM_OBJ_ADDR: {
-                    _esc_info[i].enum_timeout_ms = AP_HAL::millis() + be16toh_ptr(&recv_frame.data[0]);
-                    gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %u", i, (unsigned)_esc_info[i].enum_timeout_ms);
-                    i++;
-                    continue;
-                }
-                case TELEMETRY_OBJ_ADDR: {
-                    uint8_t data[8] {};
-                    put_le16_ptr(&data[0], get_random16());
-                    put_le16_ptr(&data[2], get_random16());
-                    put_le16_ptr(&data[4], get_random16());
-                    data[6] = uint8_t(float(rand()) / RAND_MAX * 40.0f + 15);
-
-                    res_frame.dlc = 8;
-                    memcpy(res_frame.data, data, 8);
-                    break;
-                }
-                case VOLTAGE_OBJ_ADDR:
-                case CURRENT_OBJ_ADDR:
-                case RPM_OBJ_ADDR:
-                case TEMPERATURE_OBJ_ADDR:
-                case GET_PWM_INPUT_OBJ_ADDR:
-                case GET_PWM_OUTPUT_OBJ_ADDR:
-                case MCU_ID_OBJ_ADDR:
-                default:
-                    // discard frame
-                    return;
-                }
-
-                res_frame.id = (_esc_info[i].node_id << 16) | object_address | AP_HAL::CANFrame::FlagEFF;
-                read_select = false;
-                write_select = true;
-                select_ret = _can_iface->select(read_select, write_select, &res_frame, AP_HAL::micros64() + 1000);
-                if (!select_ret) {
-                    break;
-                }
-                int16_t res2 = _can_iface->send(res_frame, AP_HAL::micros64() + 500000, 0);
-                if (res2 == 1) {
-                    i++;
-                } else {
-                    gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Failed to transmit frame Err: %d 0x%lx", res2, (long unsigned)res_frame.id);
-                }
-            }
-        }
-    }
-}
-
-void AP_CANTester_KDECAN::print_stats(void)
-{
-    DEV_PRINTF("KDECANTester: TimeStamp: %u\n", (unsigned)AP_HAL::micros());
-    for (uint16_t i=0; i<100; i++) {
-        if (counters[i].frame_id == 0) {
-            break;
-        }
-        DEV_PRINTF("0x%08x: %u\n", (unsigned)counters[i].frame_id, (unsigned)counters[i].count);
-        counters[i].count = 0;
-    }
-}
-
-bool AP_CANTester_KDECAN::send_enumeration(uint8_t num)
-{
-    if (_esc_info[num].enum_timeout_ms == 0 ||
-        AP_HAL::millis() > _esc_info[num].enum_timeout_ms) {
-        _esc_info[num].enum_timeout_ms = 0;
-        gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Not running enumeration for ESC %d\n", num);
-        return false;
-    }
-
-    while (true) {
-        uint64_t mcu = 0;
-        mcu = htobe64(_esc_info[num].mcu_id);
-        AP_HAL::CANFrame res_frame { (_esc_info[num].node_id << 16) | START_ENUM_OBJ_ADDR | AP_HAL::CANFrame::FlagEFF,
-                                     (uint8_t*)&mcu,
-                                     8 };
-        int16_t res = _can_iface->send(res_frame, AP_HAL::micros64() + 1000, 0);
-        if (res == 1) {
-            return true;
-        }
-    }
-}
-#endif

libraries/AP_CANManager/AP_CANTester_KDECAN.h

@@ -1,82 +0,0 @@
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
- * Author: Francisco Ferreira
- * Modified for CANManager by Siddharth B Purohit
- */
-
-#include "AP_CANDriver.h"
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
-
-#define NUM_ESCS 4
-
-
-class AP_CANTester_KDECAN
-{
-public:
-    AP_CANTester_KDECAN()
-    {
-        for (uint8_t i = 0; i < NUM_ESCS; i++) {
-            _esc_info[i].mcu_id = 0xA5961824E7BD3C00 | i;
-        }
-    }
-
-    bool init(AP_HAL::CANIface* can_iface);
-    void loop(void);
-    void print_stats(void);
-    bool send_enumeration(uint8_t num);
-
-private:
-    uint8_t _driver_index = 0;
-    uint8_t _interface = 0;
-    AP_HAL::CANIface* _can_iface;
-    uint8_t _mask_received_pwm = 0;
-
-    struct esc_info {
-        uint8_t node_id;
-        uint64_t mcu_id;
-        uint32_t enum_timeout_ms;
-
-        esc_info() : node_id(1), mcu_id(0), enum_timeout_ms(0) {}
-    } _esc_info[NUM_ESCS];
-
-    uint8_t _max_node_id = 0;
-
-    static const uint8_t BROADCAST_NODE_ID = 1;
-
-    static const uint8_t ESC_INFO_OBJ_ADDR = 0;
-    static const uint8_t SET_PWM_OBJ_ADDR = 1;
-    static const uint8_t VOLTAGE_OBJ_ADDR = 2;
-    static const uint8_t CURRENT_OBJ_ADDR = 3;
-    static const uint8_t RPM_OBJ_ADDR = 4;
-    static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
-    static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
-    static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
-    static const uint8_t MCU_ID_OBJ_ADDR = 8;
-    static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
-    static const uint8_t START_ENUM_OBJ_ADDR = 10;
-    static const uint8_t TELEMETRY_OBJ_ADDR = 11;
-
-    struct {
-        uint32_t frame_id;
-        uint32_t count;
-    } counters[100];
-
-    void count_msg(uint32_t frame_id);
-    HAL_EventHandle _event_handle;
-};
-#endif

libraries/AP_CANManager/README.md

@@ -18,10 +18,6 @@ This test simply creates a uavcan node allocation client and tries to get node a
 
 This test simply emulates a ToshibaCan ESC on a bus and handles the data sent by Toshiba CAN driver, and and also responds with ESC telemetry.
 
-**5: TEST_KDE_CAN**
-
-This test simply emulates a KDECAN ESC on a bus and handles the data sent by KDE CAN driver, and and also responds with ESC telemetry. Need to supply this command `long MAV_CMD_PREFLIGHT_UAVCAN 1` after enabling KDECAN because need to do Enumeration before use.
-
 A lot more tests will be needing to be added overtime to ensure robustness and maintainability of CAN Ecosystem.
 
 **Testing under SITL**