Commit Graph

33 Commits

Author SHA1 Message Date
Peter Barker 3a9f1c1f37 AP_DroneCAN: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Thomas Watson 20d04fa823 AP_DroneCAN: DNAServer: remove preferred allocation support
Nothing is known to support it so it can't be tested. Removing it saves
flash and reduces complexity.
2024-09-17 22:10:08 +10:00
Thomas Watson 12a106333c AP_DroneCAN: DNAServer: optimize allocation strategy
Number of allocation messages with 3 nodes (6 trials):

before: 44, 36, 35, 92, 107, 41

after: 28, 28, 28, 28, 26, 28
2024-09-17 10:42:05 +10:00
Thomas Watson db18d37ed2 AP_DroneCAN: DNAServer: avoid resetting when server node ID changes
Avoids confusing the user and removes weirdness with multiple servers
sharing the same storage. Does leak the registration for the old ID but
in the unlikely event the table fills up the user can simply reset the
database.

We keep the check for an existing registration to avoid dirtying the
storage every boot unnecessarily. We also factor out the deletion of an
existing registration (which is very unlikely but technically possible)
to save some flash.
2024-09-17 10:01:45 +10:00
Thomas Watson aca624486d AP_DroneCAN: DNAServer: don't "allocate" broadcast ID
While technically legal, it's unlikely to have been tested and an
allocatee might do silly things. Also makes the logic a bit more clear
and improves the failure message.
2024-09-10 12:35:04 +10:00
Thomas Watson 5a1c825ea2 AP_DroneCAN: DNAServer: clean up and optimize allocation 2024-09-10 12:35:04 +10:00
Thomas Watson 4427cbee71 AP_DroneCAN: DNAServer: avoid clearing node ID during allocation
Not necessary and wastes flash.
2024-09-10 12:35:04 +10:00
Thomas Watson 89c9e59c55 AP_DroneCAN: DNA_Server: polish db methods
No compiler output change.
2024-09-02 11:53:24 +10:00
Thomas Watson 7c5a46bac2 AP_DroneCAN: DNA_Server: arrange db methods into more logical order 2024-08-20 10:22:55 +10:00
Thomas Watson b38766c469 AP_DroneCAN: DNA_Server: clarify comments with consistent terminology 2024-08-20 10:22:55 +10:00
Thomas Watson 9669b4e85d AP_DroneCAN: DNA_Server: rename db methods to use consistent terminology
Also use snake_case like the rest of Ardupilot.
2024-08-20 10:22:55 +10:00
Thomas Watson ddf74e2da4 AP_DroneCAN: DNA_Server: rename node record structure
Rename NodeData to NodeRecord to provide a more specific name and match
the record term used in the comments. Also nominally allows stuff to be
associated with the nodes that's not the record, as expanding the record
is hard.

Additionally, rename the `hwid` field to `uid` as that's what's used in
the rest of the code.
2024-08-20 10:22:55 +10:00
Thomas Watson e12f345bae AP_DroneCAN: DNA_Server: make lower level database tasks private
All the higher level database operations need to be locked for the whole
duration of the operation, so nobody should be using the lower-level
tasks or raw read/write functions. We can also remove the locks from
them.

The database can now safely be used by multiple servers.
2024-08-13 09:58:44 +10:00
Thomas Watson 4097e9fa42 AP_DroneCAN: DNA_Server: move allocation operation to db
Must be locked for the whole operation due to the find free/add
read-modify-write.

Preserves the previous behavior of sending back an ID of 0 in case of
allocation failure, for better or worse.
2024-08-13 09:58:44 +10:00
Thomas Watson f406c62449 AP_DroneCAN: DNA_Server: move node info update operation to db
Must be locked for the whole operation due to the occupied check and
addition read-modify-write.
2024-08-13 09:58:44 +10:00
Thomas Watson e79437d04a AP_DroneCAN: DNA_Server: move init operation into db
Must be locked for the whole operation due to the get/add
read-modify-write.
2024-08-13 09:58:44 +10:00
Thomas Watson 01e285c681 AP_DroneCAN: DNA_Server: move database tasks to db class
The server should not have raw read/write access to the database so the
database needs to take over the tasks.
2024-08-13 09:58:44 +10:00
Thomas Watson a9774d2334 AP_DroneCAN: DNA_Server: move storage read/write to its own class
There is (currently) only one storage area that is used by all servers,
so it needs to be managed by its own class shared among them.

The occupied mask is also moved as it reflects the storage contents and
so can't be stored by each server.
2024-08-13 09:58:44 +10:00
Thomas Watson 60a9f1722c AP_DroneCAN: DNA_Server: unify bitmask handling
Put documentation with each bitmask and use the object directly. Node ID
range checks can be removed as the bitmask itself checks and we don't
expect to trip them.

Substantially cleans up the code.
2024-07-30 09:49:43 +10:00
Thomas Watson 56593574a9 AP_DroneCAN: DNA_Server: miscellaneous cleanup 2024-07-30 09:49:43 +10:00
Thomas Watson 5e0bb99dbb AP_DroneCAN: DNA_Server: fix handling of empty entry
Replaces the check for a CRC of 0 with a check that the hwid is 0.
Substantially reduces 1/256 chance that a particular node ID couldn't be
stored.
2024-07-30 09:49:43 +10:00
Thomas Watson 9aeab7b424 AP_DroneCAN: DNA_Server: use 0 as unknown ID
Slightly reduces flash usage and probably is clearer.
2024-07-30 09:49:43 +10:00
Thomas Watson 8d57533f1c AP_DroneCAN: DNA_Server: fix cases involving use of invalid node IDs 2024-07-30 09:49:43 +10:00
Thomas Watson 485a9387b1 AP_DroneCAN: DNA_Server: clean up storage failure handling
The StorageManager read_block/write_block methods only return failure if
an out of bounds access is performed. Assert statically that this does
not happen.

Also remove the now-impossible failed to add node state.
2024-07-30 09:49:43 +10:00
Thomas Watson cd8519321b AP_DroneCAN: DNA_Server: search for valid nodes after magic check
Ensures the occupation mask doesn't get populated with junk if the magic
is not valid.
2024-07-30 09:49:43 +10:00
Iampete1 ff00d562fe AP_DroneCAN: DNA_Server: log driver index in CAND 2024-02-16 21:55:07 +11:00
Peter Barker dd4d017717 AP_DroneCAN: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
bugobliterator 34494bb7d1 AP_DroneCAN: pass all the variables to AP_DroneCAN_DNA_Server by value
we were using the values by the AP_DroneCAN object, but the members might
not have been initialised if they are out of order
2023-07-29 08:27:27 +09:00
Andrew Tridgell e811cf86eb AP_DroneCAN: text messages and more defines 2023-04-11 10:31:31 +10:00
Andrew Tridgell 9261f89e39 AP_DroneCAN: rename more variables, types and defines 2023-04-11 10:31:31 +10:00
Andrew Tridgell dec4dff1d8 AP_DroneCAN: fixed valgrind errors 2023-04-08 07:11:23 +10:00
Andrew Tridgell 8b096c2987 AP_DroneCAN: rename AP_UAVCAN to AP_DroneCAN 2023-04-08 07:11:23 +10:00
Andrew Tridgell 1efd640624 AP_DroneCAN: rename source files for AP_DroneCAN 2023-04-08 07:11:23 +10:00