path: root/src/modules/uavcan/uavcan_main.hpp

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#pragma once

#include <nuttx/config.h>
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <drivers/device/device.h>
#include <systemlib/perf_counter.h>

#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/actuator_direct.h>

#include "actuators/esc.hpp"
#include "sensors/sensor_bridge.hpp"

/**
 * @file uavcan_main.hpp
 *
 * Defines basic functinality of UAVCAN node.
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
#define UAVCAN_DEVICE_PATH	"/dev/uavcan/esc"

// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)

/**
 * A UAVCAN node.
 */
class UavcanNode : public device::CDev
{
	static constexpr unsigned MemPoolSize        = 10752; ///< Refer to the libuavcan manual to learn why
	static constexpr unsigned RxQueueLenPerIface = 64;
	static constexpr unsigned StackSize          = 3000;

public:
	typedef uavcan::Node<MemPoolSize> Node;
	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;

	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);

	virtual		~UavcanNode();

	virtual int	ioctl(file *filp, int cmd, unsigned long arg);

	static int	start(uavcan::NodeID node_id, uint32_t bitrate);

	Node		&get_node() { return _node; }

	// TODO: move the actuator mixing stuff into the ESC controller class
	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);

	void		subscribe();

	int		teardown();
	int		arm_actuators(bool arm);

	void		print_info();

	static UavcanNode *instance() { return _instance; }

private:
	void		fill_node_info();
	int		init(uavcan::NodeID node_id);
	void		node_spin_once();
	int		run();
	int		add_poll_fd(int fd);			///< add a fd to poll list, returning index into _poll_fds[]


	int			_task = -1;			///< handle to the OS task
	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
	int			_armed_sub = -1;		///< uORB subscription of the arming status
	actuator_armed_s	_armed = {};			///< the arming request of the system
	bool			_is_armed = false;		///< the arming status of the actuators on the bus

	int			_test_motor_sub = -1;   ///< uORB subscription of the test_motor status
	test_motor_s		_test_motor = {};
	bool			_test_in_progress = false;

	unsigned		_output_count = 0;		///< number of actuators currently available

	static UavcanNode	*_instance;			///< singleton pointer
	Node			_node;				///< library instance
	pthread_mutex_t		_node_mutex;

	UavcanEscController	_esc_controller;

	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges

	MixerGroup		*_mixers = nullptr;

	uint32_t		_groups_required = 0;
	uint32_t		_groups_subscribed = 0;
	int			_control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	actuator_controls_s 	_controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	orb_id_t		_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
	pollfd			_poll_fds[UAVCAN_NUM_POLL_FDS] = {};
	unsigned		_poll_fds_num = 0;

	int			_actuator_direct_sub = -1;   ///< uORB subscription of the actuator_direct topic
	uint8_t			_actuator_direct_poll_fd_num = 0;
	actuator_direct_s	_actuator_direct = {};

	actuator_outputs_s	_outputs = {};

	// index into _poll_fds for each _control_subs handle
	uint8_t			_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];

	perf_counter_t _perfcnt_node_spin_elapsed        = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
	perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
	perf_counter_t _perfcnt_esc_mixer_total_elapsed  = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");
};