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canardv0 nxstyle fix

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Peter van der Perk 2022-08-01 17:46:45 +02:00 committed by Xiang Xiao
parent 819c34e975
commit c026bd824a
1 changed files with 69 additions and 60 deletions
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129
examples/canardv0/canard_main.c
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@ -56,17 +56,17 @@
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
/* Application constants */ /* Application constants */
#define APP_VERSION_MAJOR 1 #define APP_VERSION_MAJOR 1
#define APP_VERSION_MINOR 0 #define APP_VERSION_MINOR 0
#define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV0_APP_NODE_NAME #define APP_NODE_NAME CONFIG_EXAMPLES_LIBCANARDV0_APP_NODE_NAME
#define GIT_HASH 0xb28bf6ac #define GIT_HASH 0xb28bf6ac
/* Some useful constants defined by the UAVCAN specification. /* Some useful constants defined by the UAVCAN specification.
* Data type signature values can be easily obtained with the script * Data type signature values can be easily obtained with the script
* show_data_type_info.py * show_data_type_info.py
*/ */
#define UAVCAN_NODE_STATUS_MESSAGE_SIZE 7 #define UAVCAN_NODE_STATUS_MESSAGE_SIZE 7
#define UAVCAN_NODE_STATUS_DATA_TYPE_ID 341 #define UAVCAN_NODE_STATUS_DATA_TYPE_ID 341
@ -99,7 +99,8 @@ static CanardInstance canard;
/* Arena for memory allocation, used by the library */ /* Arena for memory allocation, used by the library */
static uint8_t canard_memory_pool[CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE]; static uint8_t canard_memory_pool
[CONFIG_EXAMPLES_LIBCANARDV0_NODE_MEM_POOL_SIZE];
static uint8_t unique_id[UNIQUE_ID_LENGTH_BYTES] = static uint8_t unique_id[UNIQUE_ID_LENGTH_BYTES] =
{ 0x00, 0x00, 0x00, 0x00, { 0x00, 0x00, 0x00, 0x00,
@ -203,13 +204,17 @@ static void onTransferReceived(CanardInstance *ins,
*/ */
/* Image CRC skipped */ /* Image CRC skipped */
/* HardwareVersion */ /* HardwareVersion */
/* Major skipped */ /* Major skipped */
/* Minor skipped */ /* Minor skipped */
memcpy(&buffer[24], unique_id, UNIQUE_ID_LENGTH_BYTES); memcpy(&buffer[24], unique_id, UNIQUE_ID_LENGTH_BYTES);
/* Certificate of authenticity skipped */ /* Certificate of authenticity skipped */
/* Name */ /* Name */
const size_t name_len = strlen(APP_NODE_NAME); const size_t name_len = strlen(APP_NODE_NAME);
@ -268,7 +273,8 @@ static bool shouldAcceptTransfer(const CanardInstance * ins,
if ((transfer_type == CanardTransferTypeRequest) && if ((transfer_type == CanardTransferTypeRequest) &&
(data_type_id == UAVCAN_GET_NODE_INFO_DATA_TYPE_ID)) (data_type_id == UAVCAN_GET_NODE_INFO_DATA_TYPE_ID))
{ {
*out_data_type_signature = UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE; *out_data_type_signature =
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE;
return true; return true;
} }
} }
@ -294,66 +300,67 @@ void process1HzTasks(uint64_t timestamp_usec)
/* Printing the memory usage statistics. */ /* Printing the memory usage statistics. */
{ {
const CanardPoolAllocatorStatistics stats = const CanardPoolAllocatorStatistics stats =
canardGetPoolAllocatorStatistics(&canard); canardGetPoolAllocatorStatistics(&canard);
const unsigned peak_percent = const unsigned peak_percent =
100U * stats.peak_usage_blocks / stats.capacity_blocks; 100U * stats.peak_usage_blocks / stats.capacity_blocks;
#ifdef CONFIG_DEBUG_CAN #ifdef CONFIG_DEBUG_CAN
printf printf("Memory pool stats: capacity %u blocks, usage %u blocks,"
("Memory pool stats: capacity %u blocks, usage %u blocks, peak usage %u blocks (%u%%)\n", " peak usage %u blocks (%u%%)\n",
stats.capacity_blocks, stats.current_usage_blocks, stats.capacity_blocks, stats.current_usage_blocks,
stats.peak_usage_blocks, peak_percent); stats.peak_usage_blocks, peak_percent);
#endif #endif
/* The recommended way to establish the minimal size of the memory pool /* The recommended way to establish the minimal size of the memory pool
* is to stress-test the application and record the worst case memory * is to stress-test the application and record the worst case memory
* usage. * usage.
*/ */
if (peak_percent > 70) if (peak_percent > 70)
{ {
puts("WARNING: ENLARGE MEMORY POOL"); puts("WARNING: ENLARGE MEMORY POOL");
} }
} }
/* Transmitting the node status message periodically. */ /* Transmitting the node status message periodically. */
{ {
uint8_t buffer[UAVCAN_NODE_STATUS_MESSAGE_SIZE]; uint8_t buffer[UAVCAN_NODE_STATUS_MESSAGE_SIZE];
makeNodeStatusMessage(buffer); makeNodeStatusMessage(buffer);
static uint8_t transfer_id; static uint8_t transfer_id;
const int bc_res = const int bc_res =
canardBroadcast(&canard, UAVCAN_NODE_STATUS_DATA_TYPE_SIGNATURE, canardBroadcast(&canard, UAVCAN_NODE_STATUS_DATA_TYPE_SIGNATURE,
UAVCAN_NODE_STATUS_DATA_TYPE_ID, &transfer_id, UAVCAN_NODE_STATUS_DATA_TYPE_ID, &transfer_id,
CANARD_TRANSFER_PRIORITY_LOW, CANARD_TRANSFER_PRIORITY_LOW,
buffer, UAVCAN_NODE_STATUS_MESSAGE_SIZE); buffer, UAVCAN_NODE_STATUS_MESSAGE_SIZE);
if (bc_res <= 0) if (bc_res <= 0)
{ {
fprintf(stderr, "Could not broadcast node status; error %d\n", fprintf(stderr, "Could not broadcast node status; error %d\n",
bc_res); bc_res);
} }
} }
{ {
static uint8_t transfer_id; static uint8_t transfer_id;
uint8_t payload[1]; uint8_t payload[1];
uint8_t dest_id = 2; uint8_t dest_id = 2;
const int resp_res = const int resp_res =
canardRequestOrRespond(&canard, dest_id, canardRequestOrRespond(&canard, dest_id,
UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE, UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE,
UAVCAN_GET_NODE_INFO_DATA_TYPE_ID, &transfer_id, UAVCAN_GET_NODE_INFO_DATA_TYPE_ID,
CANARD_TRANSFER_PRIORITY_LOW, CanardRequest, &transfer_id,
payload, 0); CANARD_TRANSFER_PRIORITY_LOW, CanardRequest,
if (resp_res <= 0) payload, 0);
{ if (resp_res <= 0)
fprintf(stderr, "Could not request GetNodeInfo; error %d\n", {
resp_res); fprintf(stderr, "Could not request GetNodeInfo; error %d\n",
} resp_res);
} }
}
node_mode = UAVCAN_NODE_MODE_OPERATIONAL; node_mode = UAVCAN_NODE_MODE_OPERATIONAL;
} }
@ -372,7 +379,7 @@ void processTxRxOnce(CanardNuttXInstance * nuttxcan, int timeout_msec)
/* Transmitting */ /* Transmitting */
for (txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL;) for (txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL; )
{ {
const int tx_res = canardNuttXTransmit(nuttxcan, txf, 0); const int tx_res = canardNuttXTransmit(nuttxcan, txf, 0);
if (tx_res < 0) /* Failure - drop the frame and report */ if (tx_res < 0) /* Failure - drop the frame and report */
@ -471,13 +478,14 @@ static int canard_daemon(int argc, char *argv[])
onTransferReceived, shouldAcceptTransfer, (void *)(12345)); onTransferReceived, shouldAcceptTransfer, (void *)(12345));
canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID); canardSetLocalNodeID(&canard, CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID);
printf("canard_daemon: canard initialized\n"); printf("canard_daemon: canard initialized\n");
printf("start node (ID: %d Name: %s)\n", CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID, printf("start node (ID: %d Name: %s)\n",
CONFIG_EXAMPLES_LIBCANARDV0_NODE_ID,
APP_NODE_NAME); APP_NODE_NAME);
g_canard_daemon_started = true; g_canard_daemon_started = true;
uint64_t next_1hz_service_at = getMonotonicTimestampUSec(); uint64_t next_1hz_service_at = getMonotonicTimestampUSec();
for (;;) for (; ; )
{ {
processTxRxOnce(&canardnuttx_instance, 10); processTxRxOnce(&canardnuttx_instance, 10);
@ -517,7 +525,8 @@ int main(int argc, FAR char *argv[])
return EXIT_SUCCESS; return EXIT_SUCCESS;
} }
ret = task_create("canard_daemon", CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY, ret = task_create("canard_daemon",
CONFIG_EXAMPLES_LIBCANARDV0_DAEMON_PRIORITY,
CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE, canard_daemon, CONFIG_EXAMPLES_LIBCANARDV0_STACKSIZE, canard_daemon,
NULL); NULL);
if (ret < 0) if (ret < 0)