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AP_UAVCAN: log all UAVCAN devices in CAND log message

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This commit is contained in:
Andrew Tridgell 2021-01-01 08:04:08 +11:00
parent 0ae9b28198
commit a4517032c5
2 changed files with 43 additions and 7 deletions
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45
libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
View File

@ -27,6 +27,7 @@
#include <AP_Math/AP_Math.h>
#include <uavcan/protocol/dynamic_node_id/Allocation.hpp>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#include "AP_UAVCAN_Clock.h"
extern const AP_HAL::HAL& hal;
@ -427,6 +428,12 @@ void AP_UAVCAN_DNA_Server::verify_nodes(AP_UAVCAN *ap_uavcan)
return;
}
uint8_t log_count = AP::logger().get_log_start_count();
if (log_count != last_logging_count) {
last_logging_count = log_count;
logged.clearall();
}
//Check if we got acknowledgement from previous request
//except for requests using our own node_id
for (uint8_t i = 0; i < HAL_MAX_CAN_PROTOCOL_DRIVERS; i++) {
@ -502,12 +509,31 @@ Handle responses from GetNodeInfo Request. We verify the node info
against our records. Marks Verification mask if already recorded,
Or register if the node id is available and not recorded for the
received Unique ID */
void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[])
void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[], uint8_t major, uint8_t minor, uint32_t vcs_commit)
{
if (node_id > MAX_NODE_ID) {
return;
}
WITH_SEMAPHORE(sem);
/*
if we haven't logged this node then log it now
*/
if (!logged.get(node_id) && AP::logger().logging_started()) {
logged.set(node_id);
uint64_t uid[2];
memcpy(uid, unique_id, sizeof(uid));
AP::logger().Write("CAND", "TimeUS,NodeId,UID1,UID2,Name,Major,Minor,Version",
"s#------", "F-------", "QBQQZBBI",
AP_HAL::micros64(),
node_id,
uid[0], uid[1],
name,
major,
minor,
vcs_commit);
}
if (isNodeIDOccupied(node_id)) {
//if node_id already registered, just verify if Unique ID matches as well
if (node_id == getNodeIDForUniqueID(unique_id, 16)) {
@ -544,16 +570,23 @@ void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[],
void trampoline_handleNodeInfo(const uavcan::ServiceCallResult<uavcan::protocol::GetNodeInfo>& resp)
{
uint8_t node_id, unique_id[16] = {0};
char name[15] = {0};
char name[50] = {0};
node_id = resp.getResponse().getSrcNodeID().get();
//copy the unique id from message to uint8_t array
uavcan::copy(resp.getResponse().hardware_version.unique_id.begin(),
resp.getResponse().hardware_version.unique_id.end(),
auto &r = resp.getResponse();
uavcan::copy(r.hardware_version.unique_id.begin(),
r.hardware_version.unique_id.end(),
unique_id);
strncpy_noterm(name, resp.getResponse().name.c_str(), sizeof(name)-1);
AP::uavcan_dna_server().handleNodeInfo(node_id, unique_id, name);
strncpy_noterm(name, r.name.c_str(), sizeof(name)-1);
auto &dna_server = AP::uavcan_dna_server();
dna_server.handleNodeInfo(node_id, unique_id, name,
r.software_version.major,
r.software_version.minor,
r.software_version.vcs_commit);
}
/* Handle the allocation message from the devices supporting

5
libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
View File

@ -37,6 +37,9 @@ class AP_UAVCAN_DNA_Server
Bitmask<128> occupation_mask;
Bitmask<128> verified_mask;
Bitmask<128> node_seen_mask;
Bitmask<128> logged;
uint8_t last_logging_count;
//Error State
enum ServerState server_state;
@ -115,7 +118,7 @@ public:
//Callbacks
void handleAllocation(uint8_t driver_index, uint8_t node_id, const AllocationCb &cb);
void handleNodeStatus(uint8_t node_id, const NodeStatusCb &cb);
void handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[]);
void handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[], uint8_t major, uint8_t minor, uint32_t vcs_commit);
//Run through the list of seen node ids for verification
void verify_nodes(AP_UAVCAN *ap_uavcan);