Align message names to avoid CRC mismatch with deployed units

This will ensure that the CRCs will match with deployed units to avoid unnecessary incompatibilities while we are figuring out how to best standardize these between stakeholders.

src/drivers/uavcan/CMakeLists.txt

@@ -97,7 +97,7 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
 set(DSDLC_INPUTS
 	"${DSDLC_DIR}/com"
-	"${DSDLC_DIR}/standard"
+	"${DSDLC_DIR}/ardupilot"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")

src/drivers/uavcan/safety_state.cpp

@@ -63,7 +63,7 @@ void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
 	actuator_armed_s actuator_armed;
 
 	if (_actuator_armed_sub.update(&actuator_armed)) {
-		standard::indication::SafetyState cmd;
+		ardupilot::indication::SafetyState cmd;
 
 		if (actuator_armed.armed || actuator_armed.prearmed) {
 			cmd.status = cmd.STATUS_SAFETY_OFF;

src/drivers/uavcan/safety_state.hpp

@@ -42,7 +42,7 @@
 #pragma once
 
 #include <uavcan/uavcan.hpp>
-#include <standard/indication/SafetyState.hpp>
+#include <ardupilot/indication/SafetyState.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 
@@ -74,7 +74,7 @@ private:
 	/*
 	 * Publish CAN Safety state led
 	 */
-	uavcan::Publisher<standard::indication::SafetyState> _safety_state_pub;
+	uavcan::Publisher<ardupilot::indication::SafetyState> _safety_state_pub;
 
 	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
 

src/drivers/uavcan/sensors/safetybutton.cpp

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author CUAVcaijie <caijie@cuav.net>
+ */
+
+#include "safetybutton.hpp"
+#include <cstdint>
+#include <drivers/drv_hrt.h>
+#include <systemlib/err.h>
+#include <mathlib/mathlib.h>
+
+using namespace time_literals;
+const char *const UavcanSafetyBridge::NAME = "safety";
+
+UavcanSafetyBridge::UavcanSafetyBridge(uavcan::INode &node) :
+	_node(node),
+	_sub_safety(node),
+	_pub_safety(node)
+{
+}
+
+int UavcanSafetyBridge::init()
+{
+	int res = _pub_safety.init(uavcan::TransferPriority::MiddleLower);
+
+	if (res < 0) {
+		printf("safety pub failed %i", res);
+		return res;
+	}
+
+	res = _sub_safety.start(SafetyCommandCbBinder(this, &UavcanSafetyBridge::safety_sub_cb));
+
+	if (res < 0) {
+		printf("safety pub failed %i", res);
+		return res;
+	}
+
+	return 0;
+}
+
+unsigned UavcanSafetyBridge::get_num_redundant_channels() const
+{
+	return 0;
+}
+
+void UavcanSafetyBridge::print_status() const
+{
+}
+
+void UavcanSafetyBridge::safety_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &msg)
+{
+	if (msg.press_time > 10 && msg.button == 1) {
+		if (_safety_disabled) { return; }
+
+		_safety_disabled = true;
+
+	} else {
+
+		_safety_disabled = false;
+	}
+
+
+
+
+}

src/drivers/uavcan/sensors/safetybutton.hpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author CUAVcaijie <caijie@cuav.net>
+ */
+
+#pragma once
+
+#include <uORB/Subscription.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/safety.h>
+
+#include <uavcan/uavcan.hpp>
+#include <ardupilot/indication/Button.hpp>
+#include "sensor_bridge.hpp"
+
+class UavcanSafetyBridge : public IUavcanSensorBridge
+{
+public:
+	static const char *const NAME;
+
+	UavcanSafetyBridge(uavcan::INode &node);
+	~UavcanSafetyBridge() = default;
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+	unsigned get_num_redundant_channels() const override;
+
+	void print_status() const override;
+private:
+	safety_s _safety{};  //
+	bool _safety_disabled{false};
+
+	bool _safety_btn_off{false};		///< State of the safety button read from the HW button
+	void safety_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &msg);
+
+	typedef uavcan::MethodBinder < UavcanSafetyBridge *,
+		void (UavcanSafetyBridge::*)(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &) >
+		SafetyCommandCbBinder;
+
+	uavcan::INode &_node;
+	uavcan::Subscriber<ardupilot::indication::Button, SafetyCommandCbBinder> _sub_safety;
+	uavcan::Publisher<ardupilot::indication::Button> _pub_safety;
+
+	uORB::PublicationMulti<safety_s> _safety_pub{ORB_ID(safety)};
+};

src/drivers/uavcannode/CMakeLists.txt

@@ -97,7 +97,7 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
 set(DSDLC_INPUTS
 	"${DSDLC_DIR}/com"
-	"${DSDLC_DIR}/standard"
+	"${DSDLC_DIR}/ardupilot"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")

src/drivers/uavcannode/Publishers/SafetyButton.hpp

@@ -35,7 +35,7 @@
 
 #include "UavcanPublisherBase.hpp"
 
-#include <standard/indication/Button.hpp>
+#include <ardupilot/indication/Button.hpp>
 
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/safety.h>
@@ -46,13 +46,13 @@ namespace uavcannode
 class SafetyButton :
 	public UavcanPublisherBase,
 	public uORB::SubscriptionCallbackWorkItem,
-	private uavcan::Publisher<standard::indication::Button>
+	private uavcan::Publisher<ardupilot::indication::Button>
 {
 public:
 	SafetyButton(px4::WorkItem *work_item, uavcan::INode &node) :
-		UavcanPublisherBase(standard::indication::Button::DefaultDataTypeID),
+		UavcanPublisherBase(ardupilot::indication::Button::DefaultDataTypeID),
 		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety)),
-		uavcan::Publisher<standard::indication::Button>(node)
+		uavcan::Publisher<ardupilot::indication::Button>(node)
 	{}
 
 	void PrintInfo() override
@@ -60,8 +60,8 @@ public:
 		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
 			printf("\t%s -> %s:%d\n",
 			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
-			       standard::indication::Button::getDataTypeFullName(),
+			       ardupilot::indication::Button::getDataTypeFullName(),
-			       standard::indication::Button::DefaultDataTypeID);
+			       ardupilot::indication::Button::DefaultDataTypeID);
 		}
 	}
 
@@ -72,10 +72,10 @@ public:
 
 		if (uORB::SubscriptionCallbackWorkItem::update(&safety)) {
 			if (safety.safety_switch_available) {
-				standard::indication::Button Button{};
+				ardupilot::indication::Button Button{};
-				Button.button = standard::indication::Button::BUTTON_SAFETY;
+				Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
 				Button.press_time = safety.safety_off ? UINT8_MAX : 0;
-				uavcan::Publisher<standard::indication::Button>::broadcast(Button);
+				uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
 			}
 		}
 	}