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cyphal_hardware_interface/hardware/cyphal_system.cpp
Nils Schulte a7bc024069 wip
2025-07-19 14:17:31 +02:00

549 lines
21 KiB
C++
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#define NUNAVUT_ASSERT assert
#include "include/cyphal_hardware_interface/cyphal_system.hpp"
#include "cyphal_hardware_interface/cyphal_system.hpp"
#include <chrono>
#include <cmath>
#include <cstddef>
#include <hardware_interface/hardware_info.hpp>
#include <limits>
#include <memory>
#include <set>
#include <sstream>
#include <string>
#include <vector>
#include <thread>
#include "socketcan.h"
// #include "serial.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"
// #include "cyphal.hpp"
#include <chrono>
#include <cstdint>
#include <iomanip> // For std::setw, std::setfill, std::hex, etc.
#include <iostream>
#include <sstream> // For std::ostringstream
#include <thread>
#define NUNAVUT_ASSERT assert
extern "C" {
#include "canard.h"
#include <uavcan/_register/Access_1_0.h>
#include <uavcan/_register/List_1_0.h>
#include <uavcan/node/Heartbeat_1_0.h>
#include <uavcan/node/port/List_0_1.h>
}
namespace cyphal_hardware_interface {
uint64_t getMonotonicMicroseconds() {
auto now = std::chrono::steady_clock::now();
auto micros = std::chrono::duration_cast<std::chrono::microseconds>(
now.time_since_epoch())
.count();
return static_cast<uint64_t>(micros);
}
std::string cyphalUdralServo::get_non_read_register_name() const {
for (const auto &[name, reg] : registers) {
if (uavcan_register_Value_1_0_is_empty_(&reg)) {
return name;
}
}
return "";
}
bool cyphalUdralServo::all_registers_read() const {
return state.register_read && get_non_read_register_name() == "";
}
cyphalSystemHardware::~cyphalSystemHardware() {
if (can_socket >= 0) {
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Closing socket of interface '%s'", can_if_.c_str());
// close(serial_port_handle);
}
}
void cyphalSystemHardware::send(const CanardMicrosecond tx_deadline_usec,
const CanardTransferMetadata *const metadata,
const size_t payload_size,
const void *const payload_data,
const CanardMicrosecond now_usec) {
const struct CanardPayload payload = {.size = payload_size,
.data = payload_data};
(void)canardTxPush(&canard_tx_queues[0], &canard, tx_deadline_usec, metadata,
payload, now_usec, NULL);
}
void cyphalSystemHardware::read_register_list_idx(unsigned char node_id,
int register_idx) {
uavcan_register_List_Request_1_0 msg = {0};
msg.index = register_idx;
const CanardMicrosecond now_usec = getMonotonicMicroseconds();
uint8_t serialized
[uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
size_t serialized_size = sizeof(serialized);
const int8_t err = uavcan_register_List_Request_1_0_serialize_(
&msg, &serialized[0], &serialized_size);
assert(err >= 0);
if (err >= 0) {
const CanardTransferMetadata transfer = {
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_List_1_0_FIXED_PORT_ID_,
.remote_node_id = node_id,
.transfer_id = (CanardTransferID)(next_transfer_id++),
};
send(now_usec + 1e9, &transfer, serialized_size, &serialized[0], now_usec);
}
}
void cyphalSystemHardware::read_register(cyphalUdralServo &servo,
std::string name) {
if (servo.state.requested_register_name != "" || name == "") {
return;
}
servo.state.requested_register_name = name;
unsigned char node_id = servo.node_id;
uavcan_register_Access_Request_1_0 msg;
memset(&msg, 0, sizeof msg);
if (name.length() > sizeof msg.name.name.elements - 1) {
name.resize(sizeof msg.name.name.elements);
}
strcpy((char *)msg.name.name.elements, name.c_str());
msg.name.name.count = name.length();
uavcan_register_Value_1_0_select_empty_(&msg.value);
const CanardMicrosecond now_usec = getMonotonicMicroseconds();
uint8_t serialized
[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
size_t serialized_size = sizeof(serialized);
const int8_t err = uavcan_register_Access_Request_1_0_serialize_(
&msg, &serialized[0], &serialized_size);
assert(err >= 0);
if (err >= 0) {
const CanardTransferMetadata transfer = {
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_,
.remote_node_id = node_id,
.transfer_id = (CanardTransferID)(next_transfer_id++),
};
send(now_usec + 1e9, &transfer, serialized_size, &serialized[0], now_usec);
}
}
/**
* @brief Static method to call read_thread via std::thread
* @param context pointer to this
*/
void cyphalSystemHardware::read_thread_static(void *context) {
static_cast<cyphalSystemHardware *>(context)->read_thread();
}
hardware_interface::CallbackReturn cyphalSystemHardware::on_init(
const hardware_interface::HardwareComponentInterfaceParams &params) {
if (hardware_interface::SystemInterface::on_init(params) !=
hardware_interface::CallbackReturn::SUCCESS) {
return hardware_interface::CallbackReturn::ERROR;
}
can_if_ = default_if_;
if (info_.hardware_parameters.count("can_if") > 0) {
can_if_ = info_.hardware_parameters.at("can_if");
} else {
RCLCPP_WARN(rclcpp::get_logger("cyphalSystemHardware"),
"No can interface specified in urdf, using default value");
}
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"), "If set as %s",
can_if_.c_str());
std::vector<hardware_interface::ComponentInfo> components;
components.insert(components.begin(), info_.joints.begin(),
info_.joints.end());
components.insert(components.begin(), info_.sensors.begin(),
info_.sensors.end());
components.insert(components.begin(), info_.gpios.begin(), info_.gpios.end());
for (const hardware_interface::ComponentInfo &joint : components) {
if (joint.parameters.contains("node_id")) {
int node_id = -1;
try {
node_id = std::stoi(joint.parameters.at("node_id"));
} catch (std::exception &e) {
}
if (node_id < 0 || node_id >= 0xFF) {
RCLCPP_ERROR(rclcpp::get_logger("cyphalSystemHardware"),
"No node_id '%s' invalid!",
joint.parameters.at("node_id").c_str());
return hardware_interface::CallbackReturn::ERROR;
}
servos[node_id].node_id = node_id;
} else {
RCLCPP_ERROR(rclcpp::get_logger("cyphalSystemHardware"),
"No node_id configured for servo!");
return hardware_interface::CallbackReturn::ERROR;
}
// for (const auto &i : joint.command_interfaces) {
// RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"), "%s: %s: %d",
// joint.name.c_str(), i.name.c_str(),
// (int)i.parameters.size());
// }
// for (const auto &i : joint.state_interfaces) {
// RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"), "%s: %s: %d",
// joint.name.c_str(), i.name.c_str(),
// (int)i.parameters.size());
// }
}
canard_memory.deallocate = canardDeallocate;
canard_memory.allocate = canardAllocate;
// The libcanard instance requires the allocator for managing protocol states.
canard = canardInit(canard_memory);
canard_tx_queues[0] =
canardTxInit(100, CANARD_MTU_CAN_CLASSIC, canard_memory);
canard.node_id = 100;
static struct CanardRxSubscription rx;
int8_t res = //
canardRxSubscribe(&canard, CanardTransferKindMessage,
uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_,
uavcan_node_Heartbeat_1_0_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, &rx);
if (res < 0) {
return hardware_interface::CallbackReturn::ERROR;
}
static struct CanardRxSubscription rx_register_list_response_;
res = //
canardRxSubscribe(&canard, CanardTransferKindResponse,
uavcan_register_List_1_0_FIXED_PORT_ID_,
uavcan_register_List_Response_1_0_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&rx_register_list_response_);
if (res < 0) {
return hardware_interface::CallbackReturn::ERROR;
}
static struct CanardRxSubscription rx_register_access_Response_;
res = //
canardRxSubscribe(&canard, CanardTransferKindResponse,
uavcan_register_Access_1_0_FIXED_PORT_ID_,
uavcan_register_Access_Response_1_0_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&rx_register_access_Response_);
if (res < 0) {
return hardware_interface::CallbackReturn::ERROR;
}
return hardware_interface::CallbackReturn::SUCCESS;
} // namespace cyphal_hardware_interface
hardware_interface::CallbackReturn cyphalSystemHardware::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) {
can_socket = socketcanOpen(can_if_.c_str(), 8); /* MTU == 8 -> classic CAN */
if (can_socket < 0) {
RCLCPP_FATAL(rclcpp::get_logger("cyphalSystemHardware"),
"Could not open socket for can interface '%s'",
can_if_.c_str());
return hardware_interface::CallbackReturn::FAILURE;
}
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Opened socketcan socket for '%s'", can_if_.c_str());
read_thread_handle = std::thread([this]() { read_thread_static(this); });
/** wait_for_nodes **/
using namespace std::chrono_literals;
auto start_time = std::chrono::steady_clock::now();
while (true) {
bool ready = true;
for (const auto &[id, s] : servos) {
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Waiting for '%d'", id);
std::unique_lock lock{s.mtx};
if (!s.state.alive || !s.all_registers_read()) {
ready = false;
break;
}
}
if (ready) {
break;
}
if (std::chrono::steady_clock::now() > start_time + 10000ms) {
return hardware_interface::CallbackReturn::ERROR;
}
std::this_thread::sleep_for(200ms);
}
// read_register_list_idx(125, 1);
return hardware_interface::CallbackReturn::SUCCESS;
}
hardware_interface::CallbackReturn cyphalSystemHardware::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/) {
// BEGIN: This part here is for exemplary purposes - Please do not copy to
// your production code
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"), "Activating");
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Successfully activated!");
return hardware_interface::CallbackReturn::SUCCESS;
}
void cyphalSystemHardware::processReceivedTransfer(
const struct CanardRxTransfer *const transfer,
const CanardMicrosecond now_usec) {
(void)now_usec;
const int node_id = transfer->metadata.remote_node_id;
if (transfer->metadata.transfer_kind == CanardTransferKindResponse) {
if (!servos.contains(node_id)) {
return;
}
std::unique_lock lock{servos[node_id].mtx};
if (transfer->metadata.port_id == uavcan_register_List_1_0_FIXED_PORT_ID_) {
uavcan_register_List_Response_1_0 resp;
memset(&resp, 0, sizeof resp);
size_t size = transfer->payload.size;
if (uavcan_register_List_Response_1_0_deserialize_(
&resp, (uint8_t *)transfer->payload.data, &size) >= 0) {
if (resp.name.name.count == 0) {
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Register list read from '%d'", node_id);
servos[node_id].state.register_read = true;
read_register(servos[node_id],
servos[node_id].get_non_read_register_name());
} else {
char name[uavcan_register_Name_1_0_name_ARRAY_CAPACITY_ + 1] = {0};
memcpy(&name[0], resp.name.name.elements, resp.name.name.count);
name[resp.name.name.count] = '\0';
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"reg_name: %s", name);
uavcan_register_Value_1_0 value;
uavcan_register_Value_1_0_select_empty_(&value);
servos[node_id].registers[name] = value;
read_register_list_idx(node_id, servos[node_id].registers.size());
}
}
} else if (transfer->metadata.port_id ==
uavcan_register_Access_1_0_FIXED_PORT_ID_) {
uavcan_register_Access_Response_1_0 resp;
memset(&resp, 0, sizeof resp);
size_t size = transfer->payload.size;
if (uavcan_register_Access_Response_1_0_deserialize_(
&resp, (uint8_t *)transfer->payload.data, &size) >= 0) {
if (servos[node_id].state.requested_register_name.length() == 0) {
RCLCPP_ERROR(rclcpp::get_logger("cyphalSystemHardware"),
"reg_value recieved but non requested!");
return;
}
servos[node_id]
.registers[servos[node_id].state.requested_register_name] =
resp.value;
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"reg_value '%s' recieved",
servos[node_id].state.requested_register_name.c_str());
servos[node_id].state.requested_register_name = "";
if (servos[node_id].state.requested_register_name == "") {
auto non_read_register = servos[node_id].get_non_read_register_name();
read_register(servos[node_id], non_read_register);
}
}
}
} else if (transfer->metadata.transfer_kind == CanardTransferKindMessage) {
if (transfer->metadata.port_id ==
uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_) {
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"heartbeat of '%d' recieved", node_id);
if (!servos.contains(node_id)) {
return;
}
std::unique_lock lock{servos[node_id].mtx};
uavcan_node_Heartbeat_1_0 msg;
size_t size = transfer->payload.size;
if (uavcan_node_Heartbeat_1_0_deserialize_(
&msg, (uint8_t *)transfer->payload.data, &size) >= 0) {
if (!servos[node_id].state.alive) {
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Starting to read register list of '%d'", node_id);
read_register_list_idx(node_id, 0);
}
servos[node_id].state.alive = true;
}
}
}
}
void cyphalSystemHardware::write_can() {
// Transmit pending frames from the prioritized TX queues managed by
// libcanard.
const CanardMicrosecond now_usec = getMonotonicMicroseconds();
struct CanardTxQueue *const que = &canard_tx_queues[0];
struct CanardTxQueueItem *tqi =
canardTxPeek(que); // Find the highest-priority frame.
while (tqi != NULL) {
// Attempt transmission only if the frame is not yet timed out while waiting
// in the TX queue. Otherwise just drop it and move on to the next one.
if ((tqi->tx_deadline_usec == 0) || (tqi->tx_deadline_usec > now_usec)) {
const struct CanardFrame canard_frame = {
.extended_can_id = tqi->frame.extended_can_id,
.payload = {.size = tqi->frame.payload.size,
.data = tqi->frame.payload.data}};
// const int16_t result = socketcanPush(sock[ifidx], &canard_frame, 0); //
// Non-blocking write attempt.
const int16_t result =
socketcanPush(can_socket, &canard_frame,
0); // Non-blocking write attempt.
// digitalWrite(38, 0); /*enable*/delay(1000);
// digitalWrite(38, 1); /*disable*/delay(1000);
// const int16_t result = 0;
if (result == 0) {
break; // The queue is full, we will try again on the next iteration.
}
if (result < 0) {
return; // SocketCAN interface failure (link down?)
// return -result; // SocketCAN interface failure (link down?)
}
}
struct CanardTxQueueItem *const mut_tqi = canardTxPop(que, tqi);
canardTxFree(que, &canard, mut_tqi);
tqi = canardTxPeek(que);
}
}
void cyphalSystemHardware::read_thread() {
while (true) {
struct CanardFrame frame;
CanardMicrosecond out_timestamp_usec;
CanardMicrosecond timeout_usec = 0;
bool loopback = false;
uint8_t payload_buffer[CANARD_MTU_CAN_CLASSIC];
int ret = socketcanPop(can_socket, &frame, &out_timestamp_usec,
sizeof(payload_buffer), payload_buffer, timeout_usec,
&loopback);
if (loopback || ret == 0) {
continue;
}
if (ret < 0) {
RCLCPP_FATAL(rclcpp::get_logger("cyphalSystemHardware"),
"socketcanPop error (ret=%d)", ret);
return;
}
// RCLCPP_INFO(
// rclcpp::get_logger("cyphalSystemHardware"),
// "ok %d %dms %d: %02X %02X %02X %02X %02X %02X %02X %02X", ret,
// (int)out_timestamp_usec / 1000, (int)frame.payload.size,
// frame.payload.size <= 0 ? 0 : (int)((uint8_t
// *)frame.payload.data)[0], frame.payload.size <= 1 ? 0 :
// (int)((uint8_t *)frame.payload.data)[1], frame.payload.size <= 2 ? 0
// : (int)((uint8_t *)frame.payload.data)[2], frame.payload.size <= 3 ?
// 0 : (int)((uint8_t *)frame.payload.data)[3], frame.payload.size <= 4
// ? 0 : (int)((uint8_t *)frame.payload.data)[4], frame.payload.size <=
// 5 ? 0 : (int)((uint8_t *)frame.payload.data)[5], frame.payload.size
// <= 6 ? 0 : (int)((uint8_t *)frame.payload.data)[6],
// frame.payload.size <= 7 ? 0 : (int)((uint8_t
// *)frame.payload.data)[7]);
// The SocketCAN adapter uses the wall clock for timestamping, but we need
// monotonic. Wall clock can only be used for time synchronization.
const CanardMicrosecond timestamp_usec = getMonotonicMicroseconds();
struct CanardRxTransfer transfer;
memset(&transfer, 0, sizeof transfer);
const int ifidx = 0; /* interface id */
const int8_t canard_result = canardRxAccept(&canard, out_timestamp_usec,
&frame, ifidx, &transfer, NULL);
if (canard_result > 0) {
processReceivedTransfer(&transfer, timestamp_usec);
canard.memory.deallocate(canard.memory.user_reference,
transfer.payload.allocated_size,
transfer.payload.data);
} else if (canard_result == -CANARD_ERROR_OUT_OF_MEMORY) {
(void)0; // The frame did not complete a transfer so there is nothing to
// do.
// OOM should never occur if the heap is sized correctly. You can track
// OOM errors via heap API.
RCLCPP_FATAL(rclcpp::get_logger("cyphalSystemHardware"), "OOM!");
return;
} else if (canard_result == 0) {
(void)0; // The frame did not complete a transfer so there is nothing to
// do.
using namespace std::chrono_literals;
std::this_thread::sleep_for(10us);
continue;
} else {
assert(false); // No other error can possibly occur at runtime.
// return hardware_interface::return_type::ERROR;
return;
}
write_can();
}
}
hardware_interface::CallbackReturn cyphalSystemHardware::on_deactivate(
const rclcpp_lifecycle::State & /*previous_state*/) {
// BEGIN: This part here is for exemplary purposes - Please do not copy to
// your production code
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"), "Deactivating");
/* for (auto i = 0; i < hw_stop_sec_; i++) {
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"%.1f seconds left...", hw_stop_sec_ - i);
}
// END: This part here is for exemplary purposes - Please do not copy to
your
// production code
RCLCPP_INFO(rclcpp::get_logger("cyphalSystemHardware"),
"Successfully deactivated!");
*/
return hardware_interface::CallbackReturn::SUCCESS;
}
hardware_interface::return_type
cyphalSystemHardware::read(const rclcpp::Time & /*time*/,
const rclcpp::Duration & /*period*/) {
// if (!sync)
// return hardware_interface::return_type::ERROR;
return hardware_interface::return_type::OK;
}
hardware_interface::return_type
cyphal_hardware_interface ::cyphalSystemHardware::write(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
return hardware_interface::return_type::OK;
}
} // namespace cyphal_hardware_interface
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(cyphal_hardware_interface::cyphalSystemHardware,
hardware_interface::SystemInterface)
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