Commit cf524cd2 authored by Peter van der Perk's avatar Peter van der Perk Committed by Daniel Agar
Browse files

[UAVCANv1] Added uORB actuator_outputs publisher

parent 6a44fc7c
......@@ -107,10 +107,11 @@ public:
private:
const UavcanParamBinder _uavcan_params[11] {
const UavcanParamBinder _uavcan_params[12] {
{"uavcan.pub.esc.0.id", "UCAN1_ESC_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.servo.0.id", "UCAN1_SERVO_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.gps.0.id", "UCAN1_GPS_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.actuator_outputs.0.id", "UCAN1_ACTR_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.esc.0.id", "UCAN1_ESC0_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.0.id", "UCAN1_GPS0_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.1.id", "UCAN1_GPS1_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
......
......@@ -80,7 +80,7 @@ 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];
// Allow, for example, a default PX4 param value of '-1' to disable publication
if (!isValidPortId(new_id)) {
......
/****************************************************************************
*
* Copyright (c) 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
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* 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.
*
****************************************************************************/
/**
* @file actuator_outputs.hpp
*
* Defines uORB over UAVCANv1 actuator_outputs publisher
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
#include <uORB/topics/actuator_outputs.h>
#include "../Publisher.hpp"
class UORB_over_UAVCAN_actuator_outputs_Publisher : public UavcanPublisher
{
public:
UORB_over_UAVCAN_actuator_outputs_Publisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanPublisher(ins, pmgr, "actuator_outputs", instance)
{};
// Update the uORB Subscription and broadcast a UAVCAN message
// FIXME think about update and limiting
virtual void update() override
{
// Not sure if actuator_armed is a good indication of readiness but seems close to it
if (_actuator_outputs_sub.updated() && _port_id != CANARD_PORT_ID_UNSET && _port_id != 0) {
actuator_outputs_s actuator_msg {};
_actuator_outputs_sub.update(&actuator_msg);
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
.remote_node_id = CANARD_NODE_ID_UNSET,
.transfer_id = _transfer_id,
.payload_size = actuator_payload_size(&actuator_msg),
.payload = &actuator_msg,
};
// set the data ready in the buffer and chop if needed
++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
canardTxPush(&_canard_instance, &transfer);
}
};
private:
// Remove unvalid output & padding from payload_size to save bandwidth
size_t actuator_payload_size(actuator_outputs_s *msg)
{
return sizeof(struct actuator_outputs_s) - sizeof(msg->_padding0) -
((sizeof(msg->output) / sizeof(msg->output[0]) - msg->noutputs) * sizeof(msg->output[0]));
}
uORB::Subscription _actuator_outputs_sub{ORB_ID(actuator_outputs)};
};
......@@ -59,6 +59,7 @@
#include "Publishers/Publisher.hpp"
#include "Publishers/Gnss.hpp"
#include "Publishers/uORB/actuator_outputs.hpp"
#include "NodeManager.hpp"
......@@ -183,11 +184,13 @@ private:
UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager};
UORB_over_UAVCAN_actuator_outputs_Publisher _actuator_pub {_canard_instance, _param_manager}; // uORB
UavcanEscController _esc_controller {_canard_instance, _param_manager};
// Publication objects: Any object used to bridge a uORB message to a UAVCAN message
/// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
UavcanPublisher *_publishers[3] {&_gps_pub, &_esc_controller, &_actuator_pub};
UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
......
......@@ -169,3 +169,12 @@ PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
/**
* actuator_outputs uORB over UAVCAN v1 port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);
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