mirror of https://github.com/ArduPilot/ardupilot
316 lines
8.4 KiB
C++
316 lines
8.4 KiB
C++
/*
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simple UAVCAN 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 CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_WITH_UAVCAN
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#include <uavcan/uavcan.hpp>
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#include <AP_HAL/CAN.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_HAL_ChibiOS/CAN.h>
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#include <uavcan/helpers/heap_based_pool_allocator.hpp>
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#include <uavcan/equipment/indication/RGB565.hpp>
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#include <uavcan/equipment/gnss/Fix.hpp>
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#include <uavcan/equipment/gnss/Auxiliary.hpp>
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#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
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#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
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#include <uavcan/equipment/air_data/StaticPressure.hpp>
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#include <uavcan/equipment/air_data/StaticTemperature.hpp>
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#include <uavcan/equipment/actuator/ArrayCommand.hpp>
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#include <uavcan/equipment/actuator/Command.hpp>
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#include <uavcan/equipment/actuator/Status.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/indication/LightsCommand.hpp>
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#include <uavcan/equipment/indication/SingleLightCommand.hpp>
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#include <uavcan/equipment/indication/RGB565.hpp>
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#include <uavcan/equipment/power/BatteryInfo.hpp>
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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 UAVCAN_NODE_POOL_SIZE 8192
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#define UAVCAN_NODE_POOL_BLOCK_SIZE 256
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#define debug_uavcan(level, fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)
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class UAVCAN_sniffer {
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public:
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UAVCAN_sniffer();
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~UAVCAN_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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AP_HAL::Semaphore *_led_out_sem;
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class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable {
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SystemClock()
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{
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}
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uavcan::UtcDuration utc_adjustment;
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virtual void adjustUtc(uavcan::UtcDuration adjustment)
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{
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utc_adjustment = adjustment;
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}
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public:
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virtual uavcan::MonotonicTime getMonotonic() const
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{
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uavcan::uint64_t usec = 0;
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usec = AP_HAL::micros64();
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return uavcan::MonotonicTime::fromUSec(usec);
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}
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virtual uavcan::UtcTime getUtc() const
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{
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uavcan::UtcTime utc;
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uavcan::uint64_t usec = 0;
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usec = AP_HAL::micros64();
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utc.fromUSec(usec);
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utc += utc_adjustment;
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return utc;
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}
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static SystemClock& instance()
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{
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static SystemClock inst;
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return inst;
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}
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};
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uavcan::Node<0> *_node;
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uavcan::ISystemClock& get_system_clock();
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uavcan::ICanDriver* get_can_driver();
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uavcan::Node<0>* get_node();
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// This will be needed to implement if UAVCAN is used with multithreading
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// Such cases will be firmware update, etc.
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class RaiiSynchronizer {
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public:
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RaiiSynchronizer()
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{
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}
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~RaiiSynchronizer()
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{
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}
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};
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uavcan::HeapBasedPoolAllocator<UAVCAN_NODE_POOL_BLOCK_SIZE, UAVCAN_sniffer::RaiiSynchronizer> _node_allocator;
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AP_HAL::CANManager* _parent_can_mgr;
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void set_parent_can_mgr(AP_HAL::CANManager* parent_can_mgr)
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{
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_parent_can_mgr = parent_can_mgr;
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}
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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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} 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_SIMPLE(counters); i++) {
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if (counters[i].msg_name == name) {
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counters[i].count++;
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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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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 uavcan::ReceivedDataStructure<mtype>& msg) { count_msg(msg.getDataTypeFullName()); }
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MSG_CB(uavcan::protocol::NodeStatus, NodeStatus)
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MSG_CB(uavcan::equipment::gnss::Fix, Fix)
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MSG_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength)
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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::gnss::Auxiliary, Auxiliary)
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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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void UAVCAN_sniffer::init(void)
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{
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uint8_t inum = 0;
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const_cast <AP_HAL::HAL&> (hal).can_mgr[inum] = new ChibiOS::CANManager;
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hal.can_mgr[0]->begin(1000000, inum);
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set_parent_can_mgr(hal.can_mgr[inum]);
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if (!_parent_can_mgr->is_initialized()) {
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hal.console->printf("Can not initialised\n");
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return;
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}
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auto *node = get_node();
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uavcan::NodeID self_node_id(9);
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node->setNodeID(self_node_id);
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char ndname[20];
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snprintf(ndname, sizeof(ndname), "org.ardupilot:%u", inum);
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uavcan::NodeStatusProvider::NodeName name(ndname);
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node->setName(name);
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uavcan::protocol::SoftwareVersion sw_version; // Standard type uavcan.protocol.SoftwareVersion
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sw_version.major = AP_UAVCAN_SW_VERS_MAJOR;
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sw_version.minor = AP_UAVCAN_SW_VERS_MINOR;
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node->setSoftwareVersion(sw_version);
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uavcan::protocol::HardwareVersion hw_version; // Standard type uavcan.protocol.HardwareVersion
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hw_version.major = AP_UAVCAN_HW_VERS_MAJOR;
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hw_version.minor = AP_UAVCAN_HW_VERS_MINOR;
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node->setHardwareVersion(hw_version);
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const int node_start_res = node->start();
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if (node_start_res < 0) {
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debug_uavcan(1, "UAVCAN: node start problem\n\r");
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}
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#define START_CB(mtype, cbname) (new uavcan::Subscriber<mtype>(*node))->start(cb_ ## cbname)
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START_CB(uavcan::protocol::NodeStatus, NodeStatus);
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START_CB(uavcan::equipment::gnss::Fix, Fix);
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START_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength);
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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::gnss::Auxiliary, Auxiliary);
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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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/*
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* Informing other nodes that we're ready to work.
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* Default mode is INITIALIZING.
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*/
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node->setModeOperational();
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debug_uavcan(1, "UAVCAN: init done\n\r");
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}
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uavcan::Node<0> *UAVCAN_sniffer::get_node()
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{
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if (_node == nullptr && get_can_driver() != nullptr) {
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_node = new uavcan::Node<0>(*get_can_driver(), get_system_clock(), _node_allocator);
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}
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return _node;
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}
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uavcan::ICanDriver * UAVCAN_sniffer::get_can_driver()
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{
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if (_parent_can_mgr != nullptr) {
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if (_parent_can_mgr->is_initialized() == false) {
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return nullptr;
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} else {
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return _parent_can_mgr->get_driver();
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}
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}
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return nullptr;
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}
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uavcan::ISystemClock & UAVCAN_sniffer::get_system_clock()
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{
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return SystemClock::instance();
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}
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void UAVCAN_sniffer::loop(void)
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{
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auto *node = get_node();
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node->spin(uavcan::MonotonicDuration::fromMSec(1));
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}
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void UAVCAN_sniffer::print_stats(void)
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{
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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: %u\n", counters[i].msg_name, unsigned(counters[i].count));
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counters[i].count = 0;
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}
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hal.console->printf("\n");
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}
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static UAVCAN_sniffer sniffer;
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UAVCAN_sniffer::UAVCAN_sniffer() :
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_node_allocator(UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_SIZE)
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{}
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UAVCAN_sniffer::~UAVCAN_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 UAVCAN 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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while (hal.console->available()) {
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hal.console->read();
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}
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hal.scheduler->reboot(false);
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}
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while (hal.console->available()) {
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hal.console->read();
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}
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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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