Merged in paulpatience/nuttx-apps (pull request #12)

UAVCAN: Add example application

canutils/uavcan/Makefile

@@ -159,8 +159,10 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
 dsdlc_generated: libuavcan
 	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 
-$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan
+$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan dsdlc_generated/uavcan
-	$(Q) cp -R libuavcan/libuavcan/include/uavcan $(APPDIR)/include
+	$(Q) mkdir -p $(APPDIR)/include/uavcan
+	$(Q) cp -R libuavcan/libuavcan/include/uavcan/* $(APPDIR)/include/uavcan
+	$(Q) cp -R dsdlc_generated/uavcan/* $(APPDIR)/include/uavcan
 
 $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
 	$(call COMPILEXX, $<, $@)

canutils/uavcan/platform_stm32.cpp

@@ -66,11 +66,6 @@ static void delay_callable()
  * Public Functions
  ****************************************************************************/
 
-uavcan::ISystemClock& getSystemClock()
-{
-  return uavcan_stm32::SystemClock::instance();
-}
-
 uavcan::ICanDriver& getCanDriver()
 {
   static bool initialized = false;
@@ -83,13 +78,8 @@ uavcan::ICanDriver& getCanDriver()
       int retries = 0;
 #endif
 
-      for (;;)
+      while (can.init(delay_callable, bitrate) < 0)
         {
-          if (can.init(delay_callable, bitrate) >= 0)
-            {
-              break;
-            }
-
 #if CONFIG_UAVCAN_INIT_RETRIES > 0
           retries++;
           if (retries >= CONFIG_UAVCAN_INIT_RETRIES)
@@ -104,3 +94,8 @@ uavcan::ICanDriver& getCanDriver()
 
   return can.driver;
 }
+
+uavcan::ISystemClock& getSystemClock()
+{
+  return uavcan_stm32::SystemClock::instance();
+}

examples/Kconfig

@@ -74,6 +74,7 @@ source "$APPSDIR/examples/thttpd/Kconfig"
 source "$APPSDIR/examples/timer/Kconfig"
 source "$APPSDIR/examples/tiff/Kconfig"
 source "$APPSDIR/examples/touchscreen/Kconfig"
+source "$APPSDIR/examples/uavcan/Kconfig"
 source "$APPSDIR/examples/udp/Kconfig"
 source "$APPSDIR/examples/udpblaster/Kconfig"
 source "$APPSDIR/examples/discover/Kconfig"

examples/uavcan/Kconfig

@@ -0,0 +1,33 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_UAVCAN
+	bool "UAVCAN example"
+	default n
+	depends on CANUTILS_UAVCAN && LIB_BOARDCTL
+	---help---
+		Enable the UAVCAN example
+
+if EXAMPLES_UAVCAN
+
+config EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE
+	int "Node Memory Pool Size"
+	default 4096
+	---help---
+		Specifies the node's memory pool size
+
+config EXAMPLES_UAVCAN_NODE_ID
+	int "Node ID"
+	default 0
+	---help---
+		Specifies the node's ID
+
+config EXAMPLES_UAVCAN_NODE_NAME
+	string "Node Name"
+	default "org.nuttx.apps.examples.uavcan"
+	---help---
+		Specifies the node's name
+
+endif

examples/uavcan/Make.defs

@@ -0,0 +1,39 @@
+############################################################################
+# apps/examples/uavcan/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+ifeq ($(CONFIG_EXAMPLES_UAVCAN),y)
+CONFIGURED_APPS += examples/uavcan
+endif

examples/uavcan/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+# apps/examples/uavcan/Makefile
+#
+#   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+MAINSRC = uavcan_main.cxx
+
+CXXFLAGS += -I$(TOPDIR)/include/apps
+
+include $(APPDIR)/Application.mk

examples/uavcan/uavcan_main.cxx

@@ -0,0 +1,101 @@
+/****************************************************************************
+ * examples/uavcan/uavcan_main.cxx
+ *
+ *   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+ *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <cstdio>
+#include <cstdlib>
+
+#include <uavcan/uavcan.hpp>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifndef CONFIG_BUILD_KERNEL
+extern "C"
+{
+  int uavcan_main(int argc, FAR char *argv[]);
+}
+#endif
+
+uavcan::ICanDriver& getCanDriver();
+uavcan::ISystemClock& getSystemClock();
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: uavcan_main
+ ****************************************************************************/
+
+#ifdef CONFIG_BUILD_KERNEL
+int main(int argc, FAR char *argv[])
+#else
+int uavcan_main(int argc, FAR char *argv[])
+#endif
+{
+  uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
+    node(getCanDriver(), getSystemClock());
+  int ret;
+
+  node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
+  node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);
+
+  ret = node.start();
+  if (ret < 0)
+    {
+      std::fprintf(stderr, "ERROR: node.start failed: %d\n", ret);
+      return EXIT_FAILURE;
+    }
+
+  node.setModeOperational();
+
+  for (;;)
+    {
+      ret = node.spin(uavcan::MonotonicDuration::fromMSec(100));
+      if (ret < 0)
+        {
+          std::fprintf(stderr, "ERROR: node.spin failed: %d\n", ret);
+        }
+    }
+
+  return EXIT_SUCCESS;
+}