uavcan: implement OpenDroneID BasicID

Signed-off-by: Julian Oes <[email protected]>

src/drivers/uavcan/CMakeLists.txt

@@ -147,6 +147,8 @@ px4_add_module(
 		arming_status.hpp
 		beep.cpp
 		beep.hpp
+		remoteid.cpp
+		remoteid.hpp
 		rgbled.cpp
 		rgbled.hpp
 		safety_state.cpp

src/drivers/uavcan/Kconfig

@@ -26,6 +26,10 @@ if DRIVERS_UAVCAN
         bool "Include safety state controller"
         default y
 
+    config UAVCAN_REMOTEID_CONTROLLER
+        bool "Include remote ID controller"
+        default y
+
     config UAVCAN_RGB_CONTROLLER
         bool "Include rgb controller"
         default y

src/drivers/uavcan/remoteid.cpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "remoteid.hpp"
+#include <lib/open_drone_id/open_drone_id_translations.hpp>
+
+UavcanRemoteIDController::UavcanRemoteIDController(uavcan::INode &node) :
+	ModuleParams(nullptr),
+	_timer(node),
+	_node(node),
+	_uavcan_pub_remoteid_basicid(node)
+{
+}
+
+int UavcanRemoteIDController::init()
+{
+	// Setup timer and call back function for periodic updates
+	_timer.setCallback(TimerCbBinder(this, &UavcanRemoteIDController::periodic_update));
+	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	return 0;
+}
+
+void UavcanRemoteIDController::periodic_update(const uavcan::TimerEvent &)
+{
+	if (!_vehicle_status_sub.update()) {
+		return;
+	}
+
+	dronecan::remoteid::BasicID basic_id {};
+	// basic_id.id_or_mac // supposedly only used for drone ID data from other UAs
+	basic_id.id_type = dronecan::remoteid::BasicID::ODID_ID_TYPE_SERIAL_NUMBER;
+	basic_id.ua_type = static_cast<uint8_t>(open_drone_id_translations::odidTypeForMavType(
+			_vehicle_status_sub.get().system_type));
+
+	// uas_id: UAS (Unmanned Aircraft System) ID following the format specified by id_type
+	// TODO: MAV_ODID_ID_TYPE_SERIAL_NUMBER needs to be ANSI/CTA-2063 format
+
+	char uas_id[20] = {};
+	board_get_px4_guid_formated((char *)(uas_id), sizeof(uas_id));
+	basic_id.uas_id = uas_id;
+
+	_uavcan_pub_remoteid_basicid.broadcast(basic_id);
+}

src/drivers/uavcan/remoteid.hpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/Subscription.hpp>
+
+#include <uavcan/uavcan.hpp>
+#include <dronecan/remoteid/BasicID.hpp>
+
+#include <px4_platform_common/module_params.h>
+
+class UavcanRemoteIDController : public ModuleParams
+{
+public:
+	UavcanRemoteIDController(uavcan::INode &node);
+	~UavcanRemoteIDController() = default;
+
+	int init();
+
+private:
+	typedef uavcan::MethodBinder<UavcanRemoteIDController *, void (UavcanRemoteIDController::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	static constexpr unsigned MAX_RATE_HZ = 1;
+	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
+
+	void periodic_update(const uavcan::TimerEvent &);
+
+	uavcan::INode &_node;
+
+	uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
+
+	uavcan::Publisher<dronecan::remoteid::BasicID> _uavcan_pub_remoteid_basicid;
+
+	//DEFINE_PARAMETERS(
+	//	(ParamInt<px4::params::UAVCAN_LGT_ANTCL>) _param_mode_anti_col,
+	//	(ParamInt<px4::params::UAVCAN_LGT_STROB>) _param_mode_strobe,
+	//	(ParamInt<px4::params::UAVCAN_LGT_NAV>) _param_mode_nav,
+	//	(ParamInt<px4::params::UAVCAN_LGT_LAND>) _param_mode_land
+	//)
+};

src/drivers/uavcan/rgbled.hpp

@@ -51,7 +51,7 @@ class UavcanRGBController : public ModuleParams
 	int init();
 
 private:
-	// Max update rate to avoid exessive bus traffic
+	// Max update rate to avoid excessive bus traffic
 	static constexpr unsigned MAX_RATE_HZ = 20;
 
 	void periodic_update(const uavcan::TimerEvent &);

src/drivers/uavcan/uavcan_main.cpp

@@ -96,6 +96,9 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 #if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
 	_safety_state_controller(_node),
 #endif
+#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
+	_remoteid_controller(_node),
+#endif
 #if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
 	_rgbled_controller(_node),
 #endif
@@ -558,6 +561,16 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return ret;
 	}
 
+#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
+	ret = _remoteid_controller.init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+
 #if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
 	ret = _rgbled_controller.init();
 

src/drivers/uavcan/uavcan_main.hpp

@@ -68,6 +68,10 @@
 
 #include "logmessage.hpp"
 
+#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
+#include "remoteid.hpp"
+#endif
+
 #if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
 #include "rgbled.hpp"
 #endif
@@ -269,6 +273,9 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams
 #if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
 	UavcanSafetyState         	_safety_state_controller;
 #endif
+#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
+	UavcanRemoteIDController _remoteid_controller;
+#endif
 #if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
 	UavcanRGBController             _rgbled_controller;
 #endif