Merge pull request #165 from 107-systems/unique-id

Provide a UniqueId service to provide a unique ID for the NodeInfo service.

examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino

@@ -30,8 +30,6 @@
 #undef min
 #include <algorithm>
 
-#include "NodeInfo.h"
-
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/
@@ -161,6 +159,24 @@ static RegisterNatural16 reg_ro_uavcan_pub_distance_id  ("uavcan.pub.distance.id
 static RegisterString    reg_ro_uavcan_pub_distance_type("uavcan.pub.distance.type", Register::Access::ReadOnly,  Register::Persistent::No, "uavcan.primitive.scalar.Real32.1.0");
 static RegisterList      reg_list;
 
+/* NODE INFO **************************************************************************/
+
+static NodeInfo node_info
+(
+  /* uavcan.node.Version.1.0 protocol_version */
+  1, 0,
+  /* uavcan.node.Version.1.0 hardware_version */
+  1, 0,
+  /* uavcan.node.Version.1.0 software_version */
+  0, 1,
+  /* saturated uint64 software_vcs_revision_id */
+  NULL,
+  /* saturated uint8[16] unique_id */
+  OpenCyphalUniqueId(),
+  /* saturated uint8[<=50] name */
+  "107-systems.tof-sensor-node"
+);
+
 /**************************************************************************************
  * SETUP/LOOP
  **************************************************************************************/
@@ -209,7 +225,7 @@ void setup()
 
   /* Register callbacks for node info and register api.
    */
-  node_hdl.subscribe<GetInfo_1_0::Request<>>(onGetInfo_1_0_Request_Received);
+  node_info.subscribe(node_hdl);
 
   reg_list.add(reg_rw_uavcan_node_id);
   reg_list.add(reg_ro_uavcan_node_description);
@@ -261,14 +277,6 @@ void mcp2515_onReceiveBufferFull(CanardFrame const & frame)
   node_hdl.onCanFrameReceived(frame, micros());
 }
 
-void onGetInfo_1_0_Request_Received(CanardRxTransfer const &transfer, Node & node_hdl)
-{
-  DBG_INFO("onGetInfo_1_0_Request_Received");
-  GetInfo_1_0::Response<> rsp = GetInfo_1_0::Response<>();
-  memcpy(&rsp.data, &NODE_INFO, sizeof(uavcan_node_GetInfo_Response_1_0));
-  node_hdl.respond(rsp, transfer.metadata.remote_node_id, transfer.metadata.transfer_id);
-}
-
 void publish_heartbeat(Node & u, uint32_t const uptime, Heartbeat_1_0<>::Mode const mode)
 {
   Heartbeat_1_0<> hb;

examples/tools/PrintUniqueId/PrintUniqueId.ino

@@ -0,0 +1,29 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <107-Arduino-Cyphal.h>
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial) { }
+
+  Serial.println(OpenCyphalUniqueId);
+}
+
+void loop()
+{
+
+}

src/107-Arduino-Cyphal.h

@@ -14,6 +14,8 @@
 
 #include "Node.h"
 #include "Types.h"
+#include "NodeInfo.h"
 #include "register/RegisterList.h"
+#include "utility/UniqueId16.h"
 
 #endif /* _107_ARDUINO_CYPHAL_H_ */

src/NodeInfo.cpp

@@ -0,0 +1,61 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDES
+ **************************************************************************************/
+
+#include "NodeInfo.h"
+
+/**************************************************************************************
+ * CTOR/DTOR
+ **************************************************************************************/
+
+NodeInfo::NodeInfo(uint8_t const protocol_major, uint8_t const protocol_minor,
+                   uint8_t const hardware_major, uint8_t const hardware_minor,
+                   uint8_t const software_major, uint8_t const software_minor,
+                   uint64_t const software_vcs_revision_id,
+                   UniqueId16Array const unique_id,
+                   std::string const & name)
+{
+  _node_info.protocol_version.major = protocol_major;
+  _node_info.protocol_version.minor = protocol_minor;
+
+  _node_info.hardware_version.major = hardware_major;
+  _node_info.hardware_version.minor = hardware_minor;
+
+  _node_info.software_version.major = software_major;
+  _node_info.software_version.minor = software_minor;
+
+  _node_info.software_vcs_revision_id = software_vcs_revision_id;
+
+  memcpy(_node_info.unique_id, unique_id.data(), sizeof(_node_info.unique_id));
+
+  _node_info.name.count = std::min(name.length(), uavcan_node_GetInfo_Response_1_0_name_ARRAY_CAPACITY_);
+  memcpy(_node_info.name.elements, name.c_str(), _node_info.name.count);
+}
+
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+void NodeInfo::subscribe(Node & node_hdl)
+{
+  node_hdl.subscribe<uavcan::node::GetInfo_1_0::Request<>>
+    ([this](CanardRxTransfer const & transfer, Node & node_hdl) { this->onGetInfo_1_0_Request_Received(transfer, node_hdl); });
+}
+
+/**************************************************************************************
+ * PRIVATE MEMBER FUNCTIONS
+ **************************************************************************************/
+
+void NodeInfo::onGetInfo_1_0_Request_Received(CanardRxTransfer const & transfer, Node & node_hdl)
+{
+  uavcan::node::GetInfo_1_0::Response<> rsp = uavcan::node::GetInfo_1_0::Response<>();
+  memcpy(&rsp.data, &_node_info, sizeof(uavcan_node_GetInfo_Response_1_0));
+  node_hdl.respond(rsp, transfer.metadata.remote_node_id, transfer.metadata.transfer_id);
+}

src/NodeInfo.h

@@ -0,0 +1,45 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+#ifndef ARDUINO_OPENCYPHAL_NODE_INFO_H_
+#define ARDUINO_OPENCYPHAL_NODE_INFO_H_
+
+/**************************************************************************************
+ * INCLUDES
+ **************************************************************************************/
+
+#include <string>
+
+#include "Node.h"
+#include "utility/UniqueId16.h"
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+class NodeInfo
+{
+public:
+
+  NodeInfo(uint8_t const protocol_major, uint8_t const protocol_minor,
+           uint8_t const hardware_major, uint8_t const hardware_minor,
+           uint8_t const software_major, uint8_t const software_minor,
+           uint64_t const software_vcs_revision_id,
+           UniqueId16Array const unique_id,
+           std::string const & name);
+
+
+  void subscribe(Node & node_hdl);
+
+
+private:
+  uavcan_node_GetInfo_Response_1_0 _node_info;
+
+  void onGetInfo_1_0_Request_Received(CanardRxTransfer const & transfer, Node & node_hdl);
+};
+
+#endif /* ARDUINO_OPENCYPHAL_NODE_INFO_H_ */

src/utility/CritSec-rp2040.cpp

@@ -11,7 +11,7 @@
 
 #include "CritSec.h"
 
-#if defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_NANO_RP2040_CONNECT)
+#if defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARCH_MBED)
 #include <Arduino.h>
 
 /**************************************************************************************
@@ -28,4 +28,4 @@ extern "C" void crit_sec_leave()
   interrupts();
 }
 
-#endif /* ARDUINO_ARCH_RP2040 */
+#endif /* defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARCH_MBED) */

src/utility/UniqueId16-esp32.cpp

@@ -0,0 +1,43 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "UniqueId16.h"
+
+#if defined(ARDUINO_ARCH_ESP32)
+
+#include <Arduino.h>
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace impl
+{
+
+/**************************************************************************************
+ * CTOR/DTOR
+ **************************************************************************************/
+
+UniqueId16::UniqueId16()
+: _unique_id{0}
+{
+  size_t constexpr CHIP_ID_SIZE = 6;
+  uint64_t const chipid = ESP.getEfuseMac();
+  memcpy(_unique_id, &chipid, CHIP_ID_SIZE);
+}
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* impl */
+
+#endif /* defined(ARDUINO_ARCH_ESP32) */

src/utility/UniqueId16-rp2040.cpp

@@ -0,0 +1,45 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <[email protected]>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "UniqueId16.h"
+
+#if defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARCH_MBED)
+
+#include <cstring>
+#include <pico/unique_id.h>
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace impl
+{
+
+/**************************************************************************************
+ * CTOR/DTOR
+ **************************************************************************************/
+
+UniqueId16::UniqueId16()
+: _unique_id{0}
+{
+  pico_unique_board_id_t pico_id;
+  pico_get_unique_board_id(&pico_id);
+
+  memcpy(_unique_id, pico_id.id, PICO_UNIQUE_BOARD_ID_SIZE_BYTES);
+}
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* impl */
+
+#endif /* defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARDUINO_NANO_RP2040_CONNECT) */