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[UAVCANv1] Publisher default timeout, has to be tuned further for all publishers

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This commit is contained in:
Peter van der Perk
2021-04-20 15:33:51 +02:00
committed by Lorenz Meier
parent 1804cea92c
commit 8b3aa46c01
12 changed files with 24 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan_v1/Actuators/EscClient.hpp
+2 -2
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@@ -102,7 +102,7 @@ public:
CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = arming_pid, // This is the subject-ID.
@@ -145,7 +145,7 @@ public:
uint8_t esc_sp_payload_buffer[reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
src/drivers/uavcan_v1/CMakeLists.txt
+2
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@@ -37,6 +37,7 @@ set(LEGACY_DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/legacy_data_types)
px4_add_git_submodule(TARGET git_libcanard PATH ${LIBCANARD_DIR})
px4_add_git_submodule(TARGET git_public_regulated_data_types PATH ${DSDL_DIR})
px4_add_git_submodule(TARGET git_legacy_data_types PATH ${LEGACY_DSDL_DIR})
find_program(NNVG_PATH nnvg)
if(NNVG_PATH)
@@ -88,5 +89,6 @@ px4_add_module(
DEPENDS
git_libcanard
git_public_regulated_data_types
git_legacy_data_types
version
)
src/drivers/uavcan_v1/NodeManager.cpp
+1 -1
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@@ -70,7 +70,7 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)
uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID.
src/drivers/uavcan_v1/Publishers/Gnss.hpp
+2 -2
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@@ -72,7 +72,7 @@ public:
uint8_t geo_payload_buffer[reg_drone_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
@@ -107,7 +107,7 @@ public:
CanardPortID _port_id_2 = static_cast<CanardPortID>((uint16_t)_port_id + 1U);
CanardTransfer transfer2 = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id_2, // This is the subject-ID.
src/drivers/uavcan_v1/Publishers/Publisher.hpp
+6
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@@ -50,6 +50,12 @@
#include "../CanardInterface.hpp"
#include "../ParamManager.hpp"
/* This is a default baseline timeout for publishers
* Still it's recommended for implementers to check if their publisher
* has timing requirements and if it should drop messages that are too old in favour of newer messages
*/
#define PUBLISHER_DEFAULT_TIMEOUT_USEC 100000UL
class UavcanPublisher
{
public:
src/drivers/uavcan_v1/Publishers/Readiness.hpp
+1 -1
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@@ -76,7 +76,7 @@ public:
uint8_t readiness_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
src/drivers/uavcan_v1/ServiceClients/Access.hpp
+1 -1
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@@ -103,7 +103,7 @@ public:
uint8_t response_payload_buffer[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindResponse,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.
src/drivers/uavcan_v1/ServiceClients/GetInfo.hpp
+1 -1
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@@ -108,7 +108,7 @@ public:
uint8_t response_payload_buffer[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer response = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindResponse,
.port_id = uavcan_node_GetInfo_1_0_FIXED_PORT_ID_, // This is the subject-ID.
src/drivers/uavcan_v1/Services/AccessRequest.hpp
+3 -1
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@@ -47,6 +47,8 @@
#include <uavcan/_register/Access_1_0.h>
#include "../Publishers/Publisher.hpp"
class UavcanAccessServiceRequest
{
public:
@@ -68,7 +70,7 @@ public:
uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.
src/drivers/uavcan_v1/Services/ListRequest.hpp
+3 -1
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@@ -47,6 +47,8 @@
#include <uavcan/_register/List_1_0.h>
#include "../Publishers/Publisher.hpp"
class UavcanListServiceRequest
{
public:
@@ -62,7 +64,7 @@ public:
uint8_t request_payload_buffer[uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer request = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_List_1_0_FIXED_PORT_ID_, // This is the subject-ID.
src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
+1 -1
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@@ -69,7 +69,7 @@ public:
// Set _port_id from _uavcan_param
uavcan_register_Value_1_0 value;
_param_manager.GetParamByName(uavcan_param, value);
uint16_t new_id = value.natural16.value.elements[0];
int32_t new_id = value.integer32.value.elements[0];
/* FIXME how about partial subscribing */
if (curSubj->_canard_sub._port_id != new_id) {
src/drivers/uavcan_v1/Uavcan.cpp
+1 -1
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@@ -417,7 +417,7 @@ void UavcanNode::sendHeartbeat()
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_,