drivers/uavcannode: Add a simple parameter server (simpler version for merging) (#16649)

* drivers/uavcannode: Add a simple parameter server

Added a simple parameter server using the libuavcan ParamServer class.
The parameter server exposes a selection of PX4 parameters via UAVCAN.
Also, Increased the stack size of the uavcan work queue in order to
prevent a stack overflow.

* uavcannode: fetch all active PX4 parameters

Co-authored-by: Kenneth Thompson <ken@flyvoly.com>

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -75,7 +75,7 @@ static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
 
 static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};
 
-static constexpr wq_config_t uavcan{"wq:uavcan", 3000, -19};
+static constexpr wq_config_t uavcan{"wq:uavcan", 3680, -19};
 
 static constexpr wq_config_t UART0{"wq:UART0", 1400, -21};
 static constexpr wq_config_t UART1{"wq:UART1", 1400, -22};

src/drivers/uavcannode/CMakeLists.txt

@@ -119,12 +119,16 @@ px4_add_module(
 		${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
 		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
 		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
+	COMPILE_OPTIONS
+		#-O0
 	SRCS
 		allocator.hpp
 		uavcan_driver.hpp
 		indication_controller.cpp
 		UavcanNode.cpp
 		UavcanNode.hpp
+		UavcanNodeParamManager.hpp
+		UavcanNodeParamManager.cpp
 	DEPENDS
 		px4_uavcan_dsdlc
 

src/drivers/uavcannode/UavcanNode.cpp

@@ -83,6 +83,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
 	_flow_measurement_publisher(_node),
+	_param_server(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
 	_reset_timer(_node)
@@ -290,6 +291,7 @@ void UavcanNode::Run()
 	if (!_initialized) {
 
 		get_node().setRestartRequestHandler(&restart_request_handler);
+		_param_server.start(&_param_manager);
 
 		init_indication_controller(get_node());
 
@@ -313,6 +315,7 @@ void UavcanNode::Run()
 		_sensor_baro_sub.registerCallback();
 		_sensor_gps_sub.registerCallback();
 		_sensor_mag_sub.registerCallback();
+		_sensor_gps_sub.registerCallback();
 
 		_initialized = true;
 	}

src/drivers/uavcannode/UavcanNode.hpp

@@ -48,6 +48,7 @@
 
 #include "uavcan_driver.hpp"
 #include "allocator.hpp"
+#include "UavcanNodeParamManager.hpp"
 
 #include <uavcan/helpers/heap_based_pool_allocator.hpp>
 #include <uavcan/protocol/global_time_sync_slave.hpp>
@@ -200,6 +201,9 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub{this, ORB_ID(sensor_gps)};
 
+	UavcanNodeParamManager _param_manager;
+	uavcan::ParamServer _param_server;
+
 	perf_counter_t _cycle_perf;
 	perf_counter_t _interval_perf;
 

src/drivers/uavcannode/UavcanNodeParamManager.cpp

@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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 "UavcanNodeParamManager.hpp"
+
+#include <px4_platform_common/defines.h>
+#include <lib/parameters/param.h>
+
+void UavcanNodeParamManager::getParamNameByIndex(Index index, Name &out_name) const
+{
+	if (index < param_count_used()) {
+		out_name = param_name(param_for_used_index(index));
+	}
+}
+
+void UavcanNodeParamManager::assignParamValue(const Name &name, const Value &value)
+{
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	// Assign input value to parameter if types match
+	param_type_t value_type = param_type(param_handle);
+
+	if (value.is(uavcan::protocol::param::Value::Tag::integer_value) && (value_type == PARAM_TYPE_INT32)) {
+		auto val = *value.as<uavcan::protocol::param::Value::Tag::integer_value>();
+
+		if ((val <= INT32_MAX) || (val >= INT32_MIN)) {
+			int32_t in_param = val;
+			param_set(param_handle, &in_param);
+		}
+
+	} else if (value.is(uavcan::protocol::param::Value::Tag::real_value) && (value_type == PARAM_TYPE_FLOAT)) {
+		// TODO: min/max value checking for float
+		float in_param = *value.as<uavcan::protocol::param::Value::Tag::real_value>();
+		param_set(param_handle, &in_param);
+	}
+}
+
+void UavcanNodeParamManager::readParamValue(const Name &name, Value &out_value) const
+{
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	// Copy current parameter value to out_value
+	param_type_t value_type = param_type(param_handle);
+
+	if (value_type == PARAM_TYPE_INT32) {
+		int32_t current_value;
+		param_get(param_handle, &current_value);
+		out_value.to<uavcan::protocol::param::Value::Tag::integer_value>() = current_value;
+
+	} else if (value_type == PARAM_TYPE_FLOAT) {
+		float current_value;
+		param_get(param_handle, &current_value);
+		out_value.to<uavcan::protocol::param::Value::Tag::real_value>() = current_value;
+	}
+}
+
+void UavcanNodeParamManager::readParamDefaultMaxMin(const Name &name, Value &out_default,
+		NumericValue &out_max, NumericValue &out_min) const
+{
+	// TODO: get actual default value (will require a new function in param.h)
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	param_type_t value_type = param_type(param_handle);
+
+	if (value_type == PARAM_TYPE_INT32) {
+		out_max.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MAX;
+		out_min.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MIN;
+		out_default.to<uavcan::protocol::param::Value::Tag::integer_value>() = 0;
+
+	} else if (value_type == PARAM_TYPE_FLOAT) {
+		out_max.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = FLT_MAX;
+		out_min.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = -FLT_MAX;
+		out_default.to<uavcan::protocol::param::Value::Tag::real_value>() = 0.0;
+	}
+}
+
+int UavcanNodeParamManager::saveAllParams()
+{
+	// Nothing to do here assuming autosave is turned on
+	return 0;
+}
+
+int UavcanNodeParamManager::eraseAllParams()
+{
+	param_reset_all();
+	return 0;
+}

src/drivers/uavcannode/UavcanNodeParamManager.hpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/protocol/param_server.hpp>
+
+class UavcanNodeParamManager : public uavcan::IParamManager
+{
+public:
+	UavcanNodeParamManager() = default;
+
+	void getParamNameByIndex(Index index, Name &out_name) const override;
+	void assignParamValue(const Name &name, const Value &value) override;
+	void readParamValue(const Name &name, Value &out_value) const override;
+	void readParamDefaultMaxMin(const Name &name, Value &out_default,
+				    NumericValue &out_max, NumericValue &out_min) const override;
+	int saveAllParams() override;
+	int eraseAllParams() override;
+
+private:
+
+};