mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.8 KiB
C++
127 lines
3.8 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include <uavcan/uavcan.hpp>
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#include <AP_Common/Bitmask.h>
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#include <StorageManager/StorageManager.h>
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//Forward declaring classes
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class AllocationCb;
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class NodeStatusCb;
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class NodeInfoCb;
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class AP_UAVCAN;
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class AP_UAVCAN_DNA_Server
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{
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StorageAccess storage;
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struct NodeData {
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uint8_t hwid_hash[6];
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uint8_t crc;
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};
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enum ServerState {
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STORAGE_FAILURE = -3,
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DUPLICATE_NODES = -2,
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FAILED_TO_ADD_NODE = -1,
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HEALTHY = 0
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};
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uint32_t last_verification_request;
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uint8_t curr_verifying_node;
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uint8_t self_node_id[MAX_NUMBER_OF_CAN_DRIVERS];
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bool nodeInfo_resp_rcvd;
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Bitmask<128> occupation_mask;
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Bitmask<128> verified_mask;
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Bitmask<128> node_seen_mask;
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//Error State
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enum ServerState server_state;
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uint8_t fault_node_id;
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char fault_node_name[15];
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//Allocation params
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uint8_t rcvd_unique_id[16];
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uint8_t rcvd_unique_id_offset;
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uint8_t current_driver_index;
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uint32_t last_activity_ms;
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//Methods to handle and report Node IDs seen on the bus
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void addToSeenNodeMask(uint8_t node_id);
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bool isNodeSeen(uint8_t node_id);
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//Generates 6Byte long hash from the specified unique_id
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void getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const;
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//Reads the Server Record from storage for specified node id
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bool readNodeData(NodeData &data, uint8_t node_id);
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//Writes the Server Record from storage for specified node id
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bool writeNodeData(const NodeData &data, uint8_t node_id);
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//Methods to set, clear and report NodeIDs allocated/registered so far
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bool setOccupationMask(uint8_t node_id);
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bool isNodeIDOccupied(uint8_t node_id) const;
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bool freeNodeID(uint8_t node_id);
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//Set the mask to report that the unique id matches the record
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void setVerificationMask(uint8_t node_id);
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//Go through List to find node id for specified unique id
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uint8_t getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size);
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//Add Node ID info to the record and setup necessary mask fields
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bool addNodeIDForUniqueID(uint8_t node_id, const uint8_t unique_id[], uint8_t size);
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//Finds next available free Node, starting from preferred NodeID
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uint8_t findFreeNodeID(uint8_t preferred);
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//Look in the storage and check if there's a valid Server Record there
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bool isValidNodeDataAvailable(uint8_t node_id);
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HAL_Semaphore sem;
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public:
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AP_UAVCAN_DNA_Server(StorageAccess _storage) : storage(_storage) {}
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// Do not allow copies
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AP_UAVCAN_DNA_Server(const AP_UAVCAN_DNA_Server &other) = delete;
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AP_UAVCAN_DNA_Server &operator=(const AP_UAVCAN_DNA_Server&) = delete;
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//Initialises publisher and Server Record for specified uavcan driver
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bool init(AP_UAVCAN *ap_uavcan);
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//Reset the Server Record
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void reset();
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/* Checks if the node id has been verified against the record
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Specific CAN drivers are expected to check use this method to
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verify if the node is healthy and has static node_id against
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hwid in the records */
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bool isNodeIDVerified(uint8_t node_id) const;
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/* Subscribe to the messages to be handled for maintaining and allocating
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Node ID list */
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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//report the server state, along with failure message if any
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bool prearm_check(char* fail_msg, uint8_t fail_msg_len) const;
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//Callbacks
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void handleAllocation(uint8_t driver_index, uint8_t node_id, const AllocationCb &cb);
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void handleNodeStatus(uint8_t node_id, const NodeStatusCb &cb);
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void handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[]);
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//Run through the list of seen node ids for verification
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void verify_nodes(AP_UAVCAN *ap_uavcan);
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};
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namespace AP
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{
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AP_UAVCAN_DNA_Server& uavcan_dna_server();
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}
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#endif
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