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build fix
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@serges147
serges147 committed Dec 10, 2024
1 parent d97c84f commit b96bab3
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Showing 3 changed files with 90 additions and 64 deletions.
6 changes: 3 additions & 3 deletions .clang-format
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ AlignEscapedNewlines: Left
AlignOperands: true
AlignTrailingComments: true
AllowAllParametersOfDeclarationOnNextLine: false
AllowShortBlocksOnASingleLine: false
AllowShortBlocksOnASingleLine: Never
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: Inline
AllowShortIfStatementsOnASingleLine: Never
Expand Down Expand Up @@ -73,7 +73,7 @@ PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 10000 # Raised intentionally because it hurts readability
PointerAlignment: Left
ReflowComments: true
SortIncludes: false
SortIncludes: Never
SortUsingDeclarations: false
SpaceAfterCStyleCast: true
SpaceAfterTemplateKeyword: true
Expand All @@ -90,7 +90,7 @@ SpacesInCStyleCastParentheses: false
SpacesInContainerLiterals: false
SpacesInParentheses: false
SpacesInSquareBrackets: false
Standard: Cpp11
Standard: c++14
TabWidth: 8
UseTab: Never
...
73 changes: 44 additions & 29 deletions differential_pressure_sensor/src/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -153,28 +153,35 @@ static void send(State* const state,
const CanardMicrosecond tx_deadline_usec,
const struct CanardTransferMetadata* const metadata,
const size_t payload_size,
const void* const payload_data)
const void* const payload_data,
const CanardMicrosecond now_usec)
{
for (uint8_t ifidx = 0; ifidx < CAN_REDUNDANCY_FACTOR; ifidx++)
{
const struct CanardPayload payload = {.size = payload_size, .data = payload_data};
(void) canardTxPush(&state->canard_tx_queues[ifidx], &state->canard, tx_deadline_usec, metadata, payload);
(void) canardTxPush(&state->canard_tx_queues[ifidx],
&state->canard,
tx_deadline_usec,
metadata,
payload,
now_usec);
}
}

static void sendResponse(State* const state,
const CanardMicrosecond tx_deadline_usec,
const struct CanardTransferMetadata* const request_metadata,
const size_t payload_size,
const void* const payload_data)
const void* const payload_data,
const CanardMicrosecond now_usec)
{
struct CanardTransferMetadata meta = *request_metadata;
meta.transfer_kind = CanardTransferKindResponse;
send(state, tx_deadline_usec, &meta, payload_size, payload_data);
send(state, tx_deadline_usec, &meta, payload_size, payload_data, now_usec);
}

/// Invoked at the rate of the fastest loop.
static void handleFastLoop(State* const state, const CanardMicrosecond monotonic_time)
static void handleFastLoop(State* const state, const CanardMicrosecond now_usec)
{
const bool anonymous = state->canard.node_id > CANARD_NODE_ID_MAX;

Expand All @@ -197,20 +204,20 @@ static void handleFastLoop(State* const state, const CanardMicrosecond monotonic
.remote_node_id = CANARD_NODE_ID_UNSET,
.transfer_id = (CanardTransferID) state->next_transfer_id.differential_pressure++, // Increment!
};
send(state, monotonic_time + 10 * KILO, &meta, serialized_size, &serialized[0]);
send(state, now_usec + 10 * KILO, &meta, serialized_size, &serialized[0], now_usec);
}
}
}

/// Invoked every second.
static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_time)
static void handle1HzLoop(State* const state, const CanardMicrosecond now_usec)
{
const bool anonymous = state->canard.node_id > CANARD_NODE_ID_MAX;
// Publish heartbeat every second unless the local node is anonymous. Anonymous nodes shall not publish heartbeat.
if (!anonymous)
{
uavcan_node_Heartbeat_1_0 heartbeat = {0};
heartbeat.uptime = (uint32_t) ((monotonic_time - state->started_at) / MEGA);
heartbeat.uptime = (uint32_t) ((now_usec - state->started_at) / MEGA);
heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL;
const O1HeapDiagnostics heap_diag = o1heapGetDiagnostics(state->heap);
if (heap_diag.oom_count > 0)
Expand All @@ -236,10 +243,11 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
.transfer_id = (CanardTransferID) (state->next_transfer_id.uavcan_node_heartbeat++),
};
send(state,
monotonic_time + MEGA, // Set transmission deadline 1 second, optimal for heartbeat.
now_usec + MEGA, // Set transmission deadline 1 second, optimal for heartbeat.
&meta,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
}
else // If we don't have a node-ID, obtain one by publishing allocation request messages until we get a response.
Expand Down Expand Up @@ -269,10 +277,11 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
.transfer_id = (CanardTransferID) (state->next_transfer_id.uavcan_pnp_allocation++),
};
send(state, // The response will arrive asynchronously eventually.
monotonic_time + MEGA,
now_usec + MEGA,
&meta,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
}
}
Expand All @@ -296,7 +305,7 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
.remote_node_id = CANARD_NODE_ID_UNSET,
.transfer_id = (CanardTransferID) state->next_transfer_id.static_air_temperature++, // Increment!
};
send(state, monotonic_time + MEGA, &meta, serialized_size, &serialized[0]);
send(state, now_usec + MEGA, &meta, serialized_size, &serialized[0], now_usec);
}
}
}
Expand Down Expand Up @@ -329,7 +338,7 @@ static void fillServers(const struct CanardTreeNode* const tree, uavcan_node_por
}

/// Invoked every 10 seconds.
static void handle01HzLoop(State* const state, const CanardMicrosecond monotonic_time)
static void handle01HzLoop(State* const state, const CanardMicrosecond now_usec)
{
// Publish the recommended (not required) port introspection message. No point publishing it if we're anonymous.
// The message is a bit heavy on the stack (about 2 KiB) but this is not a problem for a modern MCU.
Expand Down Expand Up @@ -373,7 +382,7 @@ static void handle01HzLoop(State* const state, const CanardMicrosecond monotonic
.remote_node_id = CANARD_NODE_ID_UNSET,
.transfer_id = (CanardTransferID) (state->next_transfer_id.uavcan_node_port_list++),
};
send(state, monotonic_time + MEGA, &meta, serialized_size, &serialized[0]);
send(state, now_usec + MEGA, &meta, serialized_size, &serialized[0], now_usec);
}
}
}
Expand Down Expand Up @@ -516,7 +525,9 @@ static uavcan_node_GetInfo_Response_1_0 processRequestNodeGetInfo()
return resp;
}

static void processReceivedTransfer(State* const state, const struct CanardRxTransfer* const transfer)
static void processReceivedTransfer(State* const state,
const struct CanardRxTransfer* const transfer,
const CanardMicrosecond now_usec)
{
if (transfer->metadata.transfer_kind == CanardTransferKindMessage)
{
Expand Down Expand Up @@ -549,7 +560,8 @@ static void processReceivedTransfer(State* const state, const struct CanardRxTra
transfer->timestamp_usec + MEGA,
&transfer->metadata,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
else
{
Expand All @@ -571,7 +583,8 @@ static void processReceivedTransfer(State* const state, const struct CanardRxTra
transfer->timestamp_usec + MEGA,
&transfer->metadata,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
}
}
Expand All @@ -590,7 +603,8 @@ static void processReceivedTransfer(State* const state, const struct CanardRxTra
transfer->timestamp_usec + MEGA,
&transfer->metadata,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
}
}
Expand All @@ -609,7 +623,8 @@ static void processReceivedTransfer(State* const state, const struct CanardRxTra
transfer->timestamp_usec + MEGA,
&transfer->metadata,
serialized_size,
&serialized[0]);
&serialized[0],
now_usec);
}
}
}
Expand Down Expand Up @@ -813,21 +828,21 @@ int main(const int argc, char* const argv[])
do
{
// Run a trivial scheduler polling the loops that run the business logic.
CanardMicrosecond monotonic_time = getMonotonicMicroseconds();
if (monotonic_time >= next_fast_iter_at)
const CanardMicrosecond now_usec = getMonotonicMicroseconds();
if (now_usec >= next_fast_iter_at)
{
next_fast_iter_at += fast_loop_period;
handleFastLoop(&state, monotonic_time);
handleFastLoop(&state, now_usec);
}
if (monotonic_time >= next_1_hz_iter_at)
if (now_usec >= next_1_hz_iter_at)
{
next_1_hz_iter_at += MEGA;
handle1HzLoop(&state, monotonic_time);
handle1HzLoop(&state, now_usec);
}
if (monotonic_time >= next_01_hz_iter_at)
if (now_usec >= next_01_hz_iter_at)
{
next_01_hz_iter_at += MEGA * 10;
handle01HzLoop(&state, monotonic_time);
handle01HzLoop(&state, now_usec);
}

// Transmit pending frames from the prioritized TX queues managed by libcanard.
Expand All @@ -839,7 +854,7 @@ int main(const int argc, char* const argv[])
{
// 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 > monotonic_time))
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,
Expand Down Expand Up @@ -886,7 +901,7 @@ int main(const int argc, char* const argv[])
const int8_t canard_result = canardRxAccept(&state.canard, timestamp_usec, &frame, ifidx, &transfer, NULL);
if (canard_result > 0)
{
processReceivedTransfer(&state, &transfer);
processReceivedTransfer(&state, &transfer, now_usec);
state.canard.memory.deallocate(state.canard.memory.user_reference,
transfer.payload.allocated_size,
transfer.payload.data);
Expand Down
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