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80 lines
2.9 KiB
C++
80 lines
2.9 KiB
C++
/****************************************************************************
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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 NodeManager.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 "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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typedef struct {
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uint8_t node_id;
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uint8_t unique_id[16];
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} UavcanNodeUniqueID;
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class NodeManager
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{
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public:
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NodeManager(CanardInstance &ins) : _canard_instance(ins) { };
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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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/* TODO temporary store variables here to not break the existing code
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* Ideally we implement service/request classes as well and put the logic
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* to set registers in here as well */
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uint8_t _node_register_setup = CANARD_NODE_ID_UNSET;
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int32_t _node_register_request_index = 0;
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int32_t _node_register_last_received_index = -1;
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hrt_abstime _uavcan_pnp_nodeidallocation_last{0};
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private:
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CanardInstance &_canard_instance;
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CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
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UavcanNodeUniqueID nodeid_registry[16] {0}; //TODO configurable or just rewrite
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};
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