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

src/drivers/uavcan_v1/Actuators/EscClient.hpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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_,