forked from Archive/PX4-Autopilot
UAVCANv1 Fix NodeClient header and Kconfig merge logic
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@ -110,10 +110,16 @@ def main(kconfig_file, config1, config2):
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for line in f:
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match = unset_match(line)
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#pprint.pprint(match)
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#pprint.pprint(line)
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if match is not None:
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sym_name = match.group(1)
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kconf.syms[sym_name].unset_value()
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for default, cond in kconf.syms[sym_name].orig_defaults:
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if(cond.str_value == 'y'):
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# Default is y, our diff is unset thus we've set it to no
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kconf.syms[sym_name].set_value(0)
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f.close()
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# Print warnings for symbols whose actual value doesn't match the assigned
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@ -0,0 +1,92 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file NodeClient.hpp
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*
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* Defines basic implementation of UAVCAN PNP for dynamic Node ID
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*
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* @author Peter van der Perk <peter.vanderperk@nxp.com>
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include "CanardInterface.hpp"
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#include <uavcan/node/ID_1_0.h>
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#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
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#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
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#include "Services/AccessRequest.hpp"
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#include "Services/ListRequest.hpp"
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#define PNP1_PORT_ID uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
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#define PNP1_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
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#define PNP2_PORT_ID uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
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#define PNP2_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_
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class NodeClient : public UavcanBaseSubscriber
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{
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public:
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NodeClient(CanardInstance &ins, UavcanParamManager &pmgr) : UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0),
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_canard_instance(ins) { };
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void subscribe() override
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{
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canardRxSubscribe(&_canard_instance,
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CanardTransferKindMessage,
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(_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID), // The fixed Subject-ID
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(_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
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CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
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&_subj_sub._canard_sub);
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}
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bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
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bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
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void callback(const CanardTransfer &receive); // NodeIDAllocation callback
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void update();
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private:
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CanardInstance &_canard_instance;
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CanardTransferID _node_id_alloc_transfer_id{0};
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hrt_abstime _nodealloc_request_last{0};
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};
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