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AP_DroneCAN: get/set param timeout after 0.1 sec

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Randy Mackay 2023-08-08 14:38:45 +09:00 committed by Andrew Tridgell
parent 6fe31396d9
commit ee07d6bec8
2 changed files with 33 additions and 0 deletions
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29
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -71,6 +71,8 @@ extern const AP_HAL::HAL& hal;
#define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0 #define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0
#endif #endif
#define AP_DRONECAN_GETSET_TIMEOUT_MS 100 // timeout waiting for response from node after 0.1 sec
#define debug_dronecan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "DroneCAN", fmt, ##args); } while (0) #define debug_dronecan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "DroneCAN", fmt, ##args); } while (0)
// Translation of all messages from DroneCAN structures into AP structures is done // Translation of all messages from DroneCAN structures into AP structures is done
@ -368,6 +370,7 @@ void AP_DroneCAN::loop(void)
safety_state_send(); safety_state_send();
notify_state_send(); notify_state_send();
check_parameter_callback_timeout();
send_parameter_request(); send_parameter_request();
send_parameter_save_request(); send_parameter_save_request();
send_node_status(); send_node_status();
@ -1265,6 +1268,25 @@ void AP_DroneCAN::handle_debug(const CanardRxTransfer& transfer, const uavcan_pr
} }
/* /*
check for parameter get/set response timeout
*/
void AP_DroneCAN::check_parameter_callback_timeout()
{
WITH_SEMAPHORE(_param_sem);
// return immediately if not waiting for get/set parameter response
if (param_request_sent_ms == 0) {
return;
}
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - param_request_sent_ms > AP_DRONECAN_GETSET_TIMEOUT_MS) {
param_request_sent_ms = 0;
param_int_cb = nullptr;
param_float_cb = nullptr;
}
}
/* /*
send any queued request to get/set parameter send any queued request to get/set parameter
called from loop called from loop
@ -1297,6 +1319,7 @@ bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, float
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE;
param_float_cb = cb; param_float_cb = cb;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = node_id; param_request_node_id = node_id;
return true; return true;
} }
@ -1319,6 +1342,7 @@ bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, int32
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
param_int_cb = cb; param_int_cb = cb;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = node_id; param_request_node_id = node_id;
return true; return true;
} }
@ -1340,6 +1364,7 @@ bool AP_DroneCAN::get_parameter_on_node(uint8_t node_id, const char *name, Param
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY;
param_float_cb = cb; param_float_cb = cb;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = node_id; param_request_node_id = node_id;
return true; return true;
} }
@ -1361,6 +1386,7 @@ bool AP_DroneCAN::get_parameter_on_node(uint8_t node_id, const char *name, Param
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY;
param_int_cb = cb; param_int_cb = cb;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = node_id; param_request_node_id = node_id;
return true; return true;
} }
@ -1381,6 +1407,7 @@ void AP_DroneCAN::handle_param_get_set_response(const CanardRxTransfer& transfer
param_getset_req.value.integer_value = val; param_getset_req.value.integer_value = val;
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = transfer.source_node_id; param_request_node_id = transfer.source_node_id;
return; return;
} }
@ -1393,10 +1420,12 @@ void AP_DroneCAN::handle_param_get_set_response(const CanardRxTransfer& transfer
param_getset_req.value.real_value = val; param_getset_req.value.real_value = val;
param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE; param_getset_req.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE;
param_request_sent = false; param_request_sent = false;
param_request_sent_ms = AP_HAL::millis();
param_request_node_id = transfer.source_node_id; param_request_node_id = transfer.source_node_id;
return; return;
} }
} }
param_request_sent_ms = 0;
param_int_cb = nullptr; param_int_cb = nullptr;
param_float_cb = nullptr; param_float_cb = nullptr;
} }

4
libraries/AP_DroneCAN/AP_DroneCAN.h
View File

@ -153,6 +153,9 @@ private:
// send notify vehicle state // send notify vehicle state
void notify_state_send(); void notify_state_send();
// check for parameter get/set response timeout
void check_parameter_callback_timeout();
// send queued parameter get/set request. called from loop // send queued parameter get/set request. called from loop
void send_parameter_request(); void send_parameter_request();
@ -166,6 +169,7 @@ private:
ParamGetSetIntCb *param_int_cb; // latest get param request callback function (for integers) ParamGetSetIntCb *param_int_cb; // latest get param request callback function (for integers)
ParamGetSetFloatCb *param_float_cb; // latest get param request callback function (for floats) ParamGetSetFloatCb *param_float_cb; // latest get param request callback function (for floats)
bool param_request_sent = true; // true after a param request has been sent, false when queued to be sent bool param_request_sent = true; // true after a param request has been sent, false when queued to be sent
uint32_t param_request_sent_ms; // system time that get param request was sent
HAL_Semaphore _param_sem; // semaphore protecting this block of variables HAL_Semaphore _param_sem; // semaphore protecting this block of variables
uint8_t param_request_node_id; // node id of most recent get param request uint8_t param_request_node_id; // node id of most recent get param request