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[UAVCANv1] TX deadline fix and other fixes

This commit is contained in:
Peter van der Perk 2021-04-20 13:34:16 +02:00 committed by Lorenz Meier
parent 02a4d93c74
commit 1804cea92c
15 changed files with 26 additions and 22 deletions
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5
.gitmodules vendored
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@ -56,10 +56,13 @@
url = https://github.com/UAVCAN/libcanard.git
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
path = src/drivers/uavcan_v1/public_regulated_data_types
url = https://github.com/PX4/public_regulated_data_types.git
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
path = src/drivers/uavcannode_gps_demo/libcanard
url = https://github.com/UAVCAN/libcanard.git
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
path = src/drivers/uavcan_v1/legacy_data_types
url = https://github.com/px4/public_regulated_data_types/

4
src/drivers/uavcan_v1/Actuators/EscClient.hpp
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@ -102,7 +102,7 @@ public:
CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = arming_pid, // This is the subject-ID.
@ -145,7 +145,7 @@ public:
uint8_t esc_sp_payload_buffer[reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.

3
src/drivers/uavcan_v1/CMakeLists.txt
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@ -33,6 +33,7 @@
set(LIBCANARD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libcanard)
set(DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/public_regulated_data_types)
set(LEGACY_DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/legacy_data_types)
px4_add_git_submodule(TARGET git_libcanard PATH ${LIBCANARD_DIR})
px4_add_git_submodule(TARGET git_public_regulated_data_types PATH ${DSDL_DIR})
@ -40,7 +41,7 @@ px4_add_git_submodule(TARGET git_public_regulated_data_types PATH ${DSDL_DIR})
find_program(NNVG_PATH nnvg)
if(NNVG_PATH)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${DSDL_DIR}/uavcan ${DSDL_DIR}/reg)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${DSDL_DIR}/uavcan ${DSDL_DIR}/legacy)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${LEGACY_DSDL_DIR}/uavcan ${LEGACY_DSDL_DIR}/legacy)
execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c ${DSDL_DIR}/uavcan)
else()
message(FATAL_ERROR "UAVCAN Nunavut nnvg not found")

2
src/drivers/uavcan_v1/NodeManager.cpp
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@ -70,7 +70,7 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)
uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID.

4
src/drivers/uavcan_v1/Publishers/Gnss.hpp
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@ -72,7 +72,7 @@ public:
uint8_t geo_payload_buffer[reg_drone_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
@ -107,7 +107,7 @@ public:
CanardPortID _port_id_2 = static_cast<CanardPortID>((uint16_t)_port_id + 1U);
CanardTransfer transfer2 = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id_2, // This is the subject-ID.

2
src/drivers/uavcan_v1/Publishers/Readiness.hpp
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@ -76,7 +76,7 @@ public:
uint8_t readiness_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.

2
src/drivers/uavcan_v1/ServiceClients/Access.hpp
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@ -103,7 +103,7 @@ public:
uint8_t response_payload_buffer[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindResponse,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.

4
src/drivers/uavcan_v1/ServiceClients/GetInfo.hpp
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@ -107,10 +107,8 @@ public:
uint8_t response_payload_buffer[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardMicrosecond transmission_deadline = hrt_absolute_time() + 1000 * 100;
CanardTransfer response = {
.timestamp_usec = transmission_deadline, // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindResponse,
.port_id = uavcan_node_GetInfo_1_0_FIXED_PORT_ID_, // This is the subject-ID.

2
src/drivers/uavcan_v1/Services/AccessRequest.hpp
View File

@ -68,7 +68,7 @@ public:
uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.

2
src/drivers/uavcan_v1/Services/ListRequest.hpp
View File

@ -62,7 +62,7 @@ public:
uint8_t request_payload_buffer[uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer request = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_List_1_0_FIXED_PORT_ID_, // This is the subject-ID.

4
src/drivers/uavcan_v1/Subscribers/BaseSubscriber.hpp
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@ -71,13 +71,13 @@ public:
virtual void callback(const CanardTransfer &msg) = 0;
CanardPortID id(uint32_t id = 0)
CanardPortID id(uint32_t instance = 0)
{
uint32_t i = 0;
SubjectSubscription *curSubj = &_subj_sub;
while (curSubj != NULL) {
if (id == i) {
if (instance == i) {
return curSubj->_canard_sub._port_id;
}

2
src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
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@ -69,7 +69,7 @@ public:
// Set _port_id from _uavcan_param
uavcan_register_Value_1_0 value;
_param_manager.GetParamByName(uavcan_param, value);
int32_t new_id = value.integer32.value.elements[0];
uint16_t new_id = value.natural16.value.elements[0];
/* FIXME how about partial subscribing */
if (curSubj->_canard_sub._port_id != new_id) {

9
src/drivers/uavcan_v1/Uavcan.cpp
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@ -168,7 +168,7 @@ void UavcanNode::init()
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_heartbeat_subscription);
canardRxSubscribe(&_canard_instance, //Temporory GPS message DSDL not defined yet
canardRxSubscribe(&_canard_instance, // uORB over UAVCAN GPS message
CanardTransferKindMessage,
gps_port_id,
sizeof(struct sensor_gps_s),
@ -241,8 +241,9 @@ void UavcanNode::Run()
// Transmitting
// Look at the top of the TX queue.
for (const CanardFrame *txf = nullptr; (txf = canardTxPeek(&_canard_instance)) != nullptr;) {
// Check if the frame has timed out.
if (hrt_absolute_time() > txf->timestamp_usec) { //FIXME wrong I think
// Attempt transmission only if the frame is not yet timed out while waiting in the TX queue.
// Otherwise just drop it and move on to the next one.
if (txf->timestamp_usec == 0 || hrt_absolute_time() > txf->timestamp_usec) {
// Send the frame. Redundant interfaces may be used here.
const int tx_res = _can_interface->transmit(*txf);
@ -416,7 +417,7 @@ void UavcanNode::sendHeartbeat()
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(),
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_,

1
src/drivers/uavcan_v1/legacy_data_types Submodule

@ -0,0 +1 @@
Subproject commit 36a01e428b110ff84c8babe5b65667b5e3037d5e

2
src/drivers/uavcan_v1/public_regulated_data_types

@ -1 +1 @@
Subproject commit 36a01e428b110ff84c8babe5b65667b5e3037d5e
Subproject commit 309b251a7e8d713d6bf428e18e28d91d5f07b73e