Merge pull request #46 from 107-systems/adapt-to-107-Arduino-UAVCAN

Adapt library to directly deal with CanardFrame type frames
107-systems · Oct 2, 2020 · bd5d3f2 · bd5d3f2
2 parents 104e8b1 + bb5d646
commit bd5d3f2
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Showing 16 changed files with 101 additions and 167 deletions.
diff --git a/examples/UAVCAN-Heartbeat-Publish/UAVCAN-Heartbeat-Publish.ino b/examples/UAVCAN-Heartbeat-Publish/UAVCAN-Heartbeat-Publish.ino
@@ -30,7 +30,7 @@ void    spi_select      ();
 void    spi_deselect    ();
 uint8_t spi_transfer    (uint8_t const);
 void    onExternalEvent ();
-bool    transmitCanFrame(uint32_t const, uint8_t const *, uint8_t const);
+bool    transmitCanFrame(CanardFrame const &);
 
 /**************************************************************************************
  * GLOBAL VARIABLES
@@ -39,10 +39,11 @@ bool    transmitCanFrame(uint32_t const, uint8_t const *, uint8_t const);
 ArduinoMCP2515 mcp2515(spi_select,
                        spi_deselect,
                        spi_transfer,
+                       micros,
                        nullptr,
                        nullptr);
 
-ArduinoUAVCAN uavcan(13, micros, transmitCanFrame);
+ArduinoUAVCAN uavcan(13, transmitCanFrame);
 
 Heartbeat_1_0 hb;
 
@@ -118,7 +119,7 @@ void onExternalEvent()
   mcp2515.onExternalEventHandler();
 }
 
-bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+bool transmitCanFrame(CanardFrame const & frame)
 {
-  return mcp2515.transmit(id, data, len);
+  return mcp2515.transmit(frame);
 }
diff --git a/examples/UAVCAN-Heartbeat-Subscribe/UAVCAN-Heartbeat-Subscribe.ino b/examples/UAVCAN-Heartbeat-Subscribe/UAVCAN-Heartbeat-Subscribe.ino
@@ -30,7 +30,7 @@ void    spi_select             ();
 void    spi_deselect           ();
 uint8_t spi_transfer           (uint8_t const);
 void    onExternalEvent        ();
-void    onReceiveBufferFull    (uint32_t const, uint8_t const *, uint8_t const);
+void    onReceiveBufferFull    (CanardFrame const &);
 void    onHeatbeat_1_0_Received(CanardTransfer const &, ArduinoUAVCAN &);
 
 /**************************************************************************************
@@ -40,10 +40,11 @@ void    onHeatbeat_1_0_Received(CanardTransfer const &, ArduinoUAVCAN &);
 ArduinoMCP2515 mcp2515(spi_select,
                        spi_deselect,
                        spi_transfer,
+                       micros,
                        onReceiveBufferFull,
                        nullptr);
 
-ArduinoUAVCAN uavcan(13, micros, nullptr);
+ArduinoUAVCAN uavcan(13, nullptr);
 
 /**************************************************************************************
  * SETUP/LOOP
@@ -101,9 +102,9 @@ void onExternalEvent()
   mcp2515.onExternalEventHandler();
 }
 
-void onReceiveBufferFull(uint32_t const id, uint8_t const * data, uint8_t const len)
+void onReceiveBufferFull(CanardFrame const & frame)
 {
-  uavcan.onCanFrameReceived(id, data, len);
+  uavcan.onCanFrameReceived(frame);
 }
 
 void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)

diff --git a/examples/UAVCAN-Service-Client/UAVCAN-Service-Client.ino b/examples/UAVCAN-Service-Client/UAVCAN-Service-Client.ino
@@ -27,11 +27,12 @@ static int const MKRCAN_MCP2515_INT_PIN = 7;
  * FUNCTION DECLARATION
  **************************************************************************************/
 
-void    spi_select      ();
-void    spi_deselect    ();
-uint8_t spi_transfer    (uint8_t const);
-void    onExternalEvent ();
-bool    transmitCanFrame(uint32_t const, uint8_t const *, uint8_t const);
+void    spi_select         ();
+void    spi_deselect       ();
+uint8_t spi_transfer       (uint8_t const);
+void    onExternalEvent    ();
+void    onReceiveBufferFull(CanardFrame const &);
+bool    transmitCanFrame   (CanardFrame const &);
 void    onExecuteCommand_1_0_Response_Received(CanardTransfer const &, ArduinoUAVCAN &);
 
 /**************************************************************************************
@@ -41,10 +42,11 @@ void    onExecuteCommand_1_0_Response_Received(CanardTransfer const &, ArduinoUA
 ArduinoMCP2515 mcp2515(spi_select,
                        spi_deselect,
                        spi_transfer,
-                       nullptr,
+                       micros,
+                       onReceiveBufferFull,
                        nullptr);
 
-ArduinoUAVCAN uavcan(13 /* local node id */, micros, transmitCanFrame);
+ArduinoUAVCAN uavcan(13 /* local node id */, transmitCanFrame);
 
 /**************************************************************************************
  * SETUP/LOOP
@@ -109,9 +111,14 @@ void onExternalEvent()
   mcp2515.onExternalEventHandler();
 }
 
-bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+void onReceiveBufferFull(CanardFrame const & frame)
 {
-  return mcp2515.transmit(id, data, len);
+  uavcan.onCanFrameReceived(frame);
+}
+
+bool transmitCanFrame(CanardFrame const & frame)
+{
+  return mcp2515.transmit(frame);
 }
 
 void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)

diff --git a/examples/UAVCAN-Service-Server/UAVCAN-Service-Server.ino b/examples/UAVCAN-Service-Server/UAVCAN-Service-Server.ino
@@ -27,11 +27,12 @@ static int const MKRCAN_MCP2515_INT_PIN = 7;
  * FUNCTION DECLARATION
  **************************************************************************************/
 
-void    spi_select      ();
-void    spi_deselect    ();
-uint8_t spi_transfer    (uint8_t const);
-void    onExternalEvent ();
-bool    transmitCanFrame(uint32_t const, uint8_t const *, uint8_t const);
+void    spi_select         ();
+void    spi_deselect       ();
+uint8_t spi_transfer       (uint8_t const);
+void    onExternalEvent    ();
+void    onReceiveBufferFull(CanardFrame const &);
+bool    transmitCanFrame   (CanardFrame const &);
 void    onExecuteCommand_1_0_Request_Received(CanardTransfer const &, ArduinoUAVCAN &);
 
 /**************************************************************************************
@@ -41,10 +42,11 @@ void    onExecuteCommand_1_0_Request_Received(CanardTransfer const &, ArduinoUAV
 ArduinoMCP2515 mcp2515(spi_select,
                        spi_deselect,
                        spi_transfer,
-                       nullptr,
+                       micros,
+                       onReceiveBufferFull,
                        nullptr);
 
-ArduinoUAVCAN uavcan(13 /* local node id */, micros, transmitCanFrame);
+ArduinoUAVCAN uavcan(13 /* local node id */, transmitCanFrame);
 
 /**************************************************************************************
  * SETUP/LOOP
@@ -103,9 +105,14 @@ void onExternalEvent()
   mcp2515.onExternalEventHandler();
 }
 
-bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+void onReceiveBufferFull(CanardFrame const & frame)
 {
-  return mcp2515.transmit(id, data, len);
+  uavcan.onCanFrameReceived(frame);
+}
+
+bool transmitCanFrame(CanardFrame const & frame)
+{
+  return mcp2515.transmit(frame);
 }
 
 void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)

diff --git a/extras/test/CMakeLists.txt b/extras/test/CMakeLists.txt
@@ -21,7 +21,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 ##########################################################################
 
 set(TEST_SRCS
-  src/util/micros.cpp
   src/util/Types.cpp
 
   src/test_main.cpp

diff --git a/extras/test/include/test/util/Types.h b/extras/test/include/test/util/Types.h
@@ -17,6 +17,8 @@
 #include <vector>
 #include <iostream>
 
+#include <libcanard/canard.h>
+
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/
@@ -42,6 +44,7 @@ typedef std::vector<CanFrame> CanFrameVect;
 
 std::ostream & operator << (std::ostream & os, CanFrame const & f);
 std::ostream & operator << (std::ostream & os, CanFrameVect const & fv);
+CanardFrame toCanardFrame(uint32_t const id, std::vector<uint8_t> const & data);
 
 /**************************************************************************************
  * NAMESPACE

diff --git a/extras/test/include/test/util/micros.h b/extras/test/include/test/util/micros.h
diff --git a/extras/test/src/test_ExecuteCommand_ServiceClient.cpp b/extras/test/src/test_ExecuteCommand_ServiceClient.cpp
@@ -13,7 +13,6 @@
 
 #include <test/util/Const.h>
 #include <test/util/Types.h>
-#include <test/util/micros.h>
 
 #include <ArduinoUAVCAN.h>
 
@@ -34,14 +33,15 @@ static uavcan_node_ExecuteCommand_1_0_Response response;
  * PRIVATE FUNCTION DEFINITION
  **************************************************************************************/
 
-static bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+static bool transmitCanFrame(CanardFrame const & f)
 {
-  util::CanFrame frame{id, std::vector<uint8_t>(data, data + len)};
+  util::CanFrame const frame{f.extended_can_id,
+                             std::vector<uint8_t>(reinterpret_cast<uint8_t const *>(f.payload), reinterpret_cast<uint8_t const *>(f.payload) + f.payload_size)};
   can_frame_vect.push_back(frame);
   return true;
 }
 
-void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
+static void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
   ExecuteCommand_1_0::Response const received_response = ExecuteCommand_1_0::Response::create(transfer);
   response.status = received_response.data.status;
@@ -54,7 +54,7 @@ void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, Ard
 TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-command-client-01]")
 {
   uavcan_node_ExecuteCommand_1_0_Response_init(&response);
-  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, util::micros, transmitCanFrame);
+  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   std::string const cmd_1_param = "I want a double espresso with cream";
   ExecuteCommand_1_0::Request req_1;
@@ -95,8 +95,8 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
   /* Feed back the command response to the uavcan node. In a
    * real system the answer would come back from the remote node.
    */
-  uint8_t const data_1[] = {0x02, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0};
-  uavcan.onCanFrameReceived(0x126CC69B, data_1, sizeof(data_1));
+  std::vector<uint8_t> const data_1{0x02, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0};
+  uavcan.onCanFrameReceived(util::toCanardFrame(0x126CC69B, data_1));
 
   /* Check if the expected response has been indeed received. */
   REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::NOT_AUTHORIZED));
@@ -140,8 +140,8 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
   /* Feed back the command response to the uavcan node. In a
    * real system the answer would come back from the remote node.
    */
-  uint8_t const data_2[] = {0x05, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE1};
-  uavcan.onCanFrameReceived(0x126CC69B, data_2, sizeof(data_2));
+  std::vector<uint8_t> const data_2{0x05, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE1};
+  uavcan.onCanFrameReceived(util::toCanardFrame(0x126CC69B, data_2));
 
   /* Check if the expected response has been indeed received. */
   REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::BAD_STATE));

diff --git a/extras/test/src/test_ExecuteCommand_ServiceServer.cpp b/extras/test/src/test_ExecuteCommand_ServiceServer.cpp
@@ -13,7 +13,6 @@
 
 #include <test/util/Const.h>
 #include <test/util/Types.h>
-#include <test/util/micros.h>
 
 #include <ArduinoUAVCAN.h>
 
@@ -34,14 +33,15 @@ static uavcan_node_ExecuteCommand_1_0_Request request;
  * PRIVATE FUNCTION DEFINITION
  **************************************************************************************/
 
-static bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+static bool transmitCanFrame(CanardFrame const & f)
 {
-  util::CanFrame frame{id, std::vector<uint8_t>(data, data + len)};
+  util::CanFrame const frame{f.extended_can_id,
+                             std::vector<uint8_t>(reinterpret_cast<uint8_t const *>(f.payload), reinterpret_cast<uint8_t const *>(f.payload) + f.payload_size)};
   response_can_frame = frame;
   return true;
 }
 
-void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)
+static void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)
 {
   ExecuteCommand_1_0::Request received_request = ExecuteCommand_1_0::Request::create(transfer);
 
@@ -68,7 +68,7 @@ void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, Ardu
 TEST_CASE("A '435.ExecuteCommand.1.0' request is received from a client", "[execute-command-server-01]")
 {
   uavcan_node_ExecuteCommand_1_0_Request_init(&request);
-  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, util::micros, transmitCanFrame);
+  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   /* Subscribe to incoming server requests. */
   REQUIRE(uavcan.subscribe<ExecuteCommand_1_0::Request>(onExecuteCommand_1_0_Request_Received) == true);
@@ -91,7 +91,7 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is received from a client", "[exec
                 std::end  (SERVER_REQUEST_CAN_FRAMES),
                 [&uavcan](util::CanFrame const frame)
                 {
-                  uavcan.onCanFrameReceived(frame.id, &frame.data.front(), frame.data.size());
+                  uavcan.onCanFrameReceived(util::toCanardFrame(frame.id, frame.data));
                 });
 
   /* Check if the correct request has been received. */

diff --git a/extras/test/src/test_Heartbeat.cpp b/extras/test/src/test_Heartbeat.cpp
@@ -15,7 +15,6 @@
 
 #include <test/util/Const.h>
 #include <test/util/Types.h>
-#include <test/util/micros.h>
 
 #include <ArduinoUAVCAN.h>
 
@@ -31,14 +30,15 @@ static CanardNodeID hb_node_id = 0;
  * PRIVATE FUNCTION DEFINITION
  **************************************************************************************/
 
-static bool transmitCanFrame(uint32_t const id, uint8_t const * data, uint8_t const len)
+static bool transmitCanFrame(CanardFrame const & f)
 {
-  util::CanFrame frame{id, std::vector<uint8_t>(data, data + len)};
+  util::CanFrame const frame{f.extended_can_id,
+                             std::vector<uint8_t>(reinterpret_cast<uint8_t const *>(f.payload), reinterpret_cast<uint8_t const *>(f.payload) + f.payload_size)};
   can_frame = frame;
   return true;
 }
 
-void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
+static void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
   Heartbeat_1_0 const received_hb = Heartbeat_1_0::create(transfer);
 
@@ -55,7 +55,7 @@ void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /*
 
 TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
 {
-  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, util::micros, transmitCanFrame);
+  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   Heartbeat_1_0 hb;
   hb.data.uptime = 9876;
@@ -86,7 +86,7 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
 TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is received", "[heartbeat-02]")
 {
   uavcan_node_Heartbeat_1_0_init(&hb_data);
-  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, util::micros, nullptr);
+  ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, nullptr);
 
   REQUIRE(uavcan.subscribe<Heartbeat_1_0>(onHeatbeat_1_0_Received));
 
@@ -99,8 +99,8 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is received", "[heartbeat-02]"
    *   sudo ip link set up vcan0
    *   candump -decaxta vcan0
    */
-  uint8_t const data[] = {0x39, 0x05, 0x00, 0x00, 0x5E, 0x05, 0x00, 0xE1};
-  uavcan.onCanFrameReceived(0x107D553B, data, sizeof(data));
+  std::vector<uint8_t> const data{0x39, 0x05, 0x00, 0x00, 0x5E, 0x05, 0x00, 0xE1};
+  uavcan.onCanFrameReceived(util::toCanardFrame(0x107D553B, data));
 
   REQUIRE(hb_node_id                          == 59);
   REQUIRE(hb_data.uptime                      == 1337);