mirror of https://github.com/ArduPilot/ardupilot
276 lines
8.6 KiB
C++
276 lines
8.6 KiB
C++
/*
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simple DroneCAN network sniffer as an ArduPilot firmware
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*/
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#if HAL_ENABLE_DRONECAN_DRIVERS
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#include <AP_HAL/Semaphores.h>
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL_Linux/CANSocketIface.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL_SITL/CANSocketIface.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <hal.h>
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#include <AP_HAL_ChibiOS/CANIface.h>
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#endif
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define DRONECAN_NODE_POOL_SIZE 8192
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static uint8_t node_memory_pool[DRONECAN_NODE_POOL_SIZE];
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#define debug_dronecan(fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)
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class DroneCAN_sniffer {
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public:
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DroneCAN_sniffer();
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~DroneCAN_sniffer();
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void init(void);
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void loop(void);
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void print_stats(void);
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private:
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uint8_t driver_index = 0;
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AP_CANManager can_mgr;
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};
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static struct {
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const char *msg_name;
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uint32_t count;
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uint64_t last_time_us;
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uint32_t avg_period_us;
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uint32_t max_period_us;
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uint32_t min_period_us;
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} counters[100];
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static void count_msg(const char *name)
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{
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for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
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if (counters[i].msg_name == name) {
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counters[i].count++;
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uint64_t now = AP_HAL::micros64();
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uint32_t period_us = now - counters[i].last_time_us;
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counters[i].last_time_us = now;
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if (counters[i].avg_period_us == 0) {
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counters[i].avg_period_us = period_us;
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} else {
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counters[i].avg_period_us = (counters[i].avg_period_us * (counters[i].count - 1) + period_us) / counters[i].count;
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}
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if (counters[i].max_period_us < period_us) {
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counters[i].max_period_us = period_us;
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}
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if (counters[i].min_period_us == 0 || counters[i].min_period_us > period_us) {
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counters[i].min_period_us = period_us;
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}
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break;
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}
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if (counters[i].msg_name == nullptr) {
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counters[i].msg_name = name;
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counters[i].count++;
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counters[i].last_time_us = AP_HAL::micros64();
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break;
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}
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}
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}
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#define MSG_CB(mtype, cbname) \
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static void cb_ ## cbname(const CanardRxTransfer &transfer, const mtype& msg) { count_msg(#mtype); }
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MSG_CB(uavcan_protocol_NodeStatus, NodeStatus)
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MSG_CB(uavcan_equipment_gnss_Fix2, Fix2)
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MSG_CB(uavcan_equipment_gnss_Auxiliary, Auxiliary)
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MSG_CB(uavcan_equipment_ahrs_MagneticFieldStrength, MagneticFieldStrength)
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MSG_CB(uavcan_equipment_ahrs_MagneticFieldStrength2, MagneticFieldStrength2);
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MSG_CB(uavcan_equipment_air_data_StaticPressure, StaticPressure)
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MSG_CB(uavcan_equipment_air_data_StaticTemperature, StaticTemperature)
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MSG_CB(uavcan_equipment_power_BatteryInfo, BatteryInfo);
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MSG_CB(uavcan_equipment_actuator_ArrayCommand, ArrayCommand)
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MSG_CB(uavcan_equipment_esc_RawCommand, RawCommand)
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MSG_CB(uavcan_equipment_indication_LightsCommand, LightsCommand);
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MSG_CB(com_hex_equipment_flow_Measurement, Measurement);
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uavcan_protocol_NodeStatus node_status;
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uavcan_protocol_GetNodeInfoResponse node_info;
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CanardInterface *_uavcan_iface_mgr;
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Canard::Publisher<uavcan_protocol_NodeStatus> *node_status_pub;
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Canard::Server<uavcan_protocol_GetNodeInfoRequest> *node_info_srv;
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static void cb_GetNodeInfoRequest(const CanardRxTransfer &transfer, const uavcan_protocol_GetNodeInfoRequest& msg)
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{
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if (node_info_srv == nullptr) {
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return;
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}
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node_info_srv->respond(transfer, node_info);
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}
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void DroneCAN_sniffer::init(void)
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{
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// we need to mutate the HAL to install new CAN interfaces
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AP_HAL::HAL& hal_mutable = AP_HAL::get_HAL_mutable();
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hal_mutable.can[driver_index] = new HAL_CANIface(driver_index);
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if (hal_mutable.can[driver_index] == nullptr) {
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AP_HAL::panic("Couldn't allocate CANManager, something is very wrong");
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}
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hal_mutable.can[driver_index]->init(1000000, AP_HAL::CANIface::NormalMode);
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if (!hal_mutable.can[driver_index]->is_initialized()) {
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debug_dronecan("Can not initialised\n");
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return;
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}
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_uavcan_iface_mgr = new CanardInterface{driver_index};
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if (_uavcan_iface_mgr == nullptr) {
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return;
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}
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if (!_uavcan_iface_mgr->add_interface(hal_mutable.can[driver_index])) {
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debug_dronecan("Failed to add iface");
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return;
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}
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_uavcan_iface_mgr->init(node_memory_pool, sizeof(node_memory_pool), 9);
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node_status_pub = new Canard::Publisher<uavcan_protocol_NodeStatus>{*_uavcan_iface_mgr};
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if (node_status_pub == nullptr) {
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return;
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}
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node_info_srv = new Canard::Server<uavcan_protocol_GetNodeInfoRequest>{*_uavcan_iface_mgr, *Canard::allocate_static_callback(cb_GetNodeInfoRequest)};
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if (node_info_srv == nullptr) {
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return;
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}
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node_info.name.len = snprintf((char*)node_info.name.data, sizeof(node_info.name.data), "org.ardupilot:%u", driver_index);
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node_info.software_version.major = AP_DRONECAN_SW_VERS_MAJOR;
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node_info.software_version.minor = AP_DRONECAN_SW_VERS_MINOR;
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node_info.hardware_version.major = AP_DRONECAN_HW_VERS_MAJOR;
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node_info.hardware_version.minor = AP_DRONECAN_HW_VERS_MINOR;
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#define START_CB(mtype, cbname) Canard::allocate_sub_static_callback(cb_ ## cbname,driver_index)
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START_CB(uavcan_protocol_NodeStatus, NodeStatus);
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START_CB(uavcan_equipment_gnss_Fix2, Fix2);
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START_CB(uavcan_equipment_gnss_Auxiliary, Auxiliary);
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START_CB(uavcan_equipment_ahrs_MagneticFieldStrength, MagneticFieldStrength);
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START_CB(uavcan_equipment_ahrs_MagneticFieldStrength2, MagneticFieldStrength2);
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START_CB(uavcan_equipment_air_data_StaticPressure, StaticPressure);
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START_CB(uavcan_equipment_air_data_StaticTemperature, StaticTemperature);
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START_CB(uavcan_equipment_power_BatteryInfo, BatteryInfo);
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START_CB(uavcan_equipment_actuator_ArrayCommand, ArrayCommand);
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START_CB(uavcan_equipment_esc_RawCommand, RawCommand);
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START_CB(uavcan_equipment_indication_LightsCommand, LightsCommand);
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START_CB(com_hex_equipment_flow_Measurement, Measurement);
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debug_dronecan("DroneCAN: init done\n\r");
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}
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static void send_node_status()
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{
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uavcan_protocol_NodeStatus msg;
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msg.uptime_sec = AP_HAL::millis() / 1000;
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msg.health = UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK;
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msg.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
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msg.sub_mode = 0;
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msg.vendor_specific_status_code = 0;
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node_status_pub->broadcast(msg);
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}
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uint32_t last_status_send = 0;
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void DroneCAN_sniffer::loop(void)
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{
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if (AP_HAL::millis() - last_status_send > 1000) {
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last_status_send = AP_HAL::millis();
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send_node_status();
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}
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_uavcan_iface_mgr->process(1);
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}
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void DroneCAN_sniffer::print_stats(void)
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{
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hal.console->printf("%lu\n", (unsigned long)AP_HAL::micros());
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for (uint16_t i=0;i<100;i++) {
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if (counters[i].msg_name == nullptr) {
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break;
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}
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hal.console->printf("%s: %lu AVG_US: %lu MAX_US: %lu MIN_US: %lu\n", counters[i].msg_name,
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(long unsigned)counters[i].count,
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(long unsigned)counters[i].avg_period_us,
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(long unsigned)counters[i].max_period_us,
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(long unsigned)counters[i].min_period_us);
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counters[i].count = 0;
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counters[i].avg_period_us = 0;
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counters[i].max_period_us = 0;
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counters[i].min_period_us = 0;
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}
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hal.console->printf("\n");
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}
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static DroneCAN_sniffer sniffer;
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DroneCAN_sniffer::DroneCAN_sniffer()
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{}
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DroneCAN_sniffer::~DroneCAN_sniffer()
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{
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}
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void setup(void)
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{
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hal.scheduler->delay(2000);
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hal.console->printf("Starting DroneCAN sniffer\n");
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sniffer.init();
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}
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void loop(void)
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{
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sniffer.loop();
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static uint32_t last_print_ms;
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uint32_t now = AP_HAL::millis();
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if (now - last_print_ms >= 1000) {
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last_print_ms = now;
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sniffer.print_stats();
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}
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// auto-reboot for --upload
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if (hal.console->available() > 50) {
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hal.console->printf("rebooting\n");
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hal.console->discard_input();
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hal.scheduler->reboot(false);
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}
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hal.console->discard_input();
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}
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AP_HAL_MAIN();
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#else
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#include <stdio.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static void loop() { }
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static void setup()
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{
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printf("Board not currently supported\n");
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}
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AP_HAL_MAIN();
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#endif
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