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changes.mady.by.user Alexander Sysoev

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changes.mady.by.user Pavel Kirienko

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Introduction

In this article we will make an example of implement a UAVCAN service.

Goal

The most obvious example of a service in UAVCAN is the node configuration service. We will use use the uavcan.protocol.param.GetSet data type to read and write some parameters in Babel.

...

So let's give our Zubax Babel some parameters that we will try to configure from can be changed from the UAVCAN GUI Tool. For the sake of simplicity, in this example we will have use only integer numeric parameters though , although UAVCAN allows you to have parameters of just any type you want.

Code Block
titleparameters type
typedef struct
{
    uint8_t * name;
    int64_t val; 
    int64_t min;
    int64_t max;
    int64_t defval;
} param_t;

In this example we will have three integer parameters. It is not necessary but mey it can be considered a good practice to specify the default value and the acceptable value range for numeric parameters.

...

We will also need a couple of ways to access tgese these parameters: by index and by name with some safety checks.

Code Block
titleparameters access
static inline param_t * getParamByIndex(uint16_t index)
{
    if (index >= ARRAY_SIZE(parameters)) 
    {
        return NULL;
    }
    return &parameters[index];
}


static inline param_t * getParamByName(uint8_t * name)
{
    for (uint16_t i = 0; i < ARRAY_SIZE(parameters); i++)
    {
        if (strncmp(name, parameters[i].name, strlen(parameters[i].name)) == 0) 
        {
              return &parameters[i];
        }
    }  
    return NULL;
}

Now we need to add a new type of UAVCAN messages that we want to process to to the function shouldAcceptTransfer and add its a handler call to to the function onTransferReceived.

Code Block
titleshouldAcceptTransfer
bool shouldAcceptTransfer(const CanardInstance* ins,
                          uint64_t* out_data_type_signature,
                          uint16_t data_type_id,
                          CanardTransferType transfer_type,
                          uint8_t source_node_id)
{
    if ((transfer_type == CanardTransferTypeRequest) &&
        (data_type_id == UAVCAN_GET_NODE_INFO_DATA_TYPE_ID))
    {
        *out_data_type_signature = UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE;
        return true;
    }

    if (data_type_id == UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID)
    {
        *out_data_type_signature = UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE;
        return true;
    }
    
    if (data_type_id == UAVCAN_PROTOCOL_PARAM_GETSET_ID)
    {
        *out_data_type_signature = UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE;
        return true;
    }
    return false;
}

...

Code Block
titleonTransferReceived
void onTransferReceived(CanardInstance* ins, CanardRxTransfer* transfer)
{
    if ((transfer->transfer_type == CanardTransferTypeRequest) &&
        (transfer->data_type_id == UAVCAN_GET_NODE_INFO_DATA_TYPE_ID))
    {
        getNodeInfoHandleCanard(transfer);
    } 
    
    if (transfer->data_type_id == UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID)
    { 
        rawcmdHandleCanard(transfer);
    }
    
    if (transfer->data_type_id == UAVCAN_PROTOCOL_PARAM_GETSET_ID)
    { 
        getsetHandleCanard(transfer);
    }
}

We should also write a handler for UAVCAN_PROTOCOL_PARAM_GETSET_ID. Here it is:

Code Block
titlecanard_getset_handle
void canardGetsetHandle(CanardRxTransfer* transfer)
{
    uint16_t index = 0xFFFF;
    uint8_t tag    = 0;
    int offset     = 0;
    int64_t val    = 0;

    canardDecodeScalar(transfer, offset,  13, false, &index);
    offset += 13;
    canardDecodeScalar(transfer, offset, 3, false, &tag);
    offset += 3;

    if (tag == 1)
    {
        canardDecodeScalar(transfer, offset, 64, false, &val);
        offset += 64;
    } 

    uint16_t n = transfer->payload_len - offset / 8 ;
    uint8_t name[16]      = "";
    for (int i = 0; i < n; i++)
    {
        canardDecodeScalar(transfer, offset, 8, false, &name[i]);
        offset += 8;
    }

    param_t * p = NULL;

    if (strlen((char const*)name))
    {
        p = getParamByName(name);
    }
    else
    {
        p = getParamByIndex(index);
    }

    if ((p)&&(tag == 1))
    {
        p->val = val;
    }

    uint8_t  buffer[64] = "";
    uint16_t len = canardEncodeParam(p, buffer);
    int result = canardRequestOrRespond(&g_canard,
                                        transfer->source_node_id,
                                        UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
                                        UAVCAN_PROTOCOL_PARAM_GETSET_ID,
                                        &transfer->transfer_id,
                                        transfer->priority,
                                        CanardResponse,
                                        &buffer[0],
                                        (uint16_t)len);
  
}

We also need to create a function that will encode encodes an integer param to to the uavcan.protocol.param.GetSet message. It will be a little nasty, as bit operations always are, but here it is.

Code Block
titlecanardEncodeParam
uint16_t encodeParamCanard(param_t * p, uint8_t * buffer)
{
    uint8_t n     = 0;
    int offset    = 0;
    uint8_t tag   = 1;

    if (p == NULL)
    {   
        tag = 0;
        canardEncodeScalar(buffer, offset, 5, &n);
        offset += 5;
        canardEncodeScalar(buffer, offset,3, &tag);
        offset += 3;
    
        canardEncodeScalar(buffer, offset, 6, &n);
        offset += 6;
        canardEncodeScalar(buffer, offset,2, &tag);
        offset += 2;
    
        canardEncodeScalar(buffer, offset, 6, &n);
        offset += 6;
        canardEncodeScalar(buffer, offset, 2, &tag);
        offset += 2;
        buffer[offset / 8] = 0;
        return ( offset / 8 + 1 );
    }

    canardEncodeScalar(buffer, offset, 5,&n);
    offset += 5;
    canardEncodeScalar(buffer, offset, 3, &tag);
    offset += 3;
    canardEncodeScalar(buffer, offset, 64, &p->val);
    offset += 64;

    canardEncodeScalar(buffer, offset, 5, &n);
    offset += 5;
    canardEncodeScalar(buffer, offset, 3, &tag);
    offset += 3;
    canardEncodeScalar(buffer, offset, 64, &p->defval);
    offset += 64;

    canardEncodeScalar(buffer, offset, 6, &n);
    offset += 6;
    canardEncodeScalar(buffer, offset, 2, &tag);
    offset += 2;
    canardEncodeScalar(buffer, offset, 64, &p->max);
    offset += 64;

    canardEncodeScalar(buffer, offset, 6, &n);
    offset += 6;
    canardEncodeScalar(buffer, offset,2,&tag);
    offset += 2;
    canardEncodeScalar(buffer, offset,64,&p->min);
    offset += 64;

    memcpy(&buffer[offset / 8], p->name, strlen((char const*)p->name));
    /* See important note below */
    return  (offset/8 + strlen((char const*)p->name)); 
}


Tip

According to to the UAVCAN DSDL specification, section Dynamic section "Dynamic arrays", there should be a bit field (often 8 bits wide) representing the length of the array prepending the array field. But there is one important detail, which plays a role in this particular case. DSDL also describes defines a tail array optimization which , which means that in the case when the array is the last field in the UAVCAN message, there is no need to specify its length and it must be skipped. That is why in the function above we did not specify the length of the parameter name.

Now its time to go to the UAVCAN GUI Tool and check our newly-created parameters. Double-click on the node record in the online nodes table and you will see "Node properties" window. Click the button Fetch all to read all parameters from Babel. You should see something like this:

...

Now double click on any paramter and try changing its value.

Now close the "Node properties" window and re-open it and refetch all the parameters to make sure you have actually updated the parameter value.