refactor platform specific functions and restart request (#25)

Cyphal/cyphal.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "cyphal.hpp"
-#include "main.h"
 #include "cyphal_subscribers.hpp"
 #include "cyphal_registers.hpp"
 #include "uavcan/node/Heartbeat_1_0.h"
@@ -18,7 +17,6 @@ static const constexpr size_t TX_QUEUE_FRAME_SIZE = 320;  ///< we need 314 bytes
 ///< wrappers
 static void* memAllocate(CanardInstance* const canard, const size_t amount);
 static void memFree(CanardInstance* const canard, void* const pointer);
-static uint32_t getCurrentMicroseconds();
 
 
 O1HeapInstance* Cyphal::my_allocator;
@@ -58,7 +56,7 @@ int Cyphal::init(uint8_t id) {
 
 void Cyphal::process() {
     // 1. spin recv
-    uint32_t crnt_time_ms = HAL_GetTick();
+    uint32_t crnt_time_ms = platformSpecificGetTimeMs();
     for (uint_fast8_t frame_idx = 0; frame_idx < transport.get_rx_queue_size(); frame_idx++) {
         CanardFrame rx_frame;
         if (transport.receive(&rx_frame)) {
@@ -132,7 +130,7 @@ void Cyphal::processReceivedTransfer([[maybe_unused]] const uint8_t redundant_in
 }
 
 bool Cyphal::isTxQueueItemFresh(const CanardTxQueueItem* ti) const {
-    return (0U == ti->tx_deadline_usec) || (ti->tx_deadline_usec > getCurrentMicroseconds());
+    return (0U == ti->tx_deadline_usec) || (ti->tx_deadline_usec > platformSpecificGetTimeMs());
 }
 
 void Cyphal::spinTransmit() {
@@ -201,8 +199,5 @@ static void memFree(CanardInstance* const canard, void* const pointer) {
     (void) canard;
     o1heapFree(Cyphal::my_allocator, pointer);
 }
-static uint32_t getCurrentMicroseconds() {
-    return HAL_GetTick();
-}
 
 }  // namespace cyphal

Cyphal/cyphal.hpp

@@ -9,6 +9,7 @@
 #include "cyphal_subscribers.hpp"
 #include "cyphal_registers.hpp"
 #include "cyphal_publishers.hpp"
+#include "platform_specific.h"
 #include "canard.h"
 #include "o1heap.h"
 #include "uavcan/node/GetInfo_1_0.h"

Cyphal/cyphal_publishers.cpp

@@ -4,7 +4,6 @@
 
 #include "cyphal_publishers.hpp"
 #include "cyphal.hpp"
-#include "main.h"
 #include "storage.h"
 
 namespace cyphal {
@@ -101,7 +100,7 @@ size_t PortListPublisher::uavcan_node_port_List_1_0_create() {
 }
 
 void PortListPublisher::publish() {
-    auto crnt_time_ms = HAL_GetTick();
+    auto crnt_time_ms = platformSpecificGetTimeMs();
     if (crnt_time_ms < next_pub_time_ms && !driver->ports_updated) {
         return;
     }

Cyphal/cyphal_subscribers.cpp

@@ -4,10 +4,10 @@
 
 #include "cyphal_subscribers.hpp"
 #include "cyphal.hpp"
-#include "main.h"
 #include "params.hpp"
 #include "algorithms.hpp"
 #include "storage.h"
+#include "platform_specific.h"
 
 #ifndef GIT_HASH
     #define GIT_HASH 0xBADC0FFEE000
@@ -56,24 +56,7 @@ void NodeGetInfoSubscriber::init() {
     get_info_response.hardware_version.minor = hw_version.minor;
     get_info_response.certificate_of_authenticity.count = 0;
 
-    auto uid_u32 = HAL_GetUIDw0();
-    get_info_response.unique_id[0] = uid_u32 & 0xFF;
-    get_info_response.unique_id[1] = (uid_u32 >> 8) & 0xFF;
-    get_info_response.unique_id[2] = (uid_u32 >> 16) & 0xFF;
-    get_info_response.unique_id[3] = (uid_u32 >> 24) & 0xFF;
-
-    uid_u32 = HAL_GetUIDw1();
-    get_info_response.unique_id[4] = uid_u32 & 0xFF;
-    get_info_response.unique_id[5] = (uid_u32 >> 8) & 0xFF;
-    get_info_response.unique_id[6] = (uid_u32 >> 16) & 0xFF;
-    get_info_response.unique_id[7] = (uid_u32 >> 24) & 0xFF;
-
-    uid_u32 = HAL_GetUIDw2();
-    get_info_response.unique_id[8] = uid_u32 & 0xFF;
-    get_info_response.unique_id[9] = (uid_u32 >> 8) & 0xFF;
-    get_info_response.unique_id[10] = (uid_u32 >> 16) & 0xFF;
-    get_info_response.unique_id[11] = (uid_u32 >> 24) & 0xFF;
-
+    platformSpecificReadUniqueID(get_info_response.unique_id);
     updateNodeName();
 }
 
@@ -135,8 +118,7 @@ void ExecuteCommandSubscriber::callback(const CanardRxTransfer& transfer) {
 
     switch (msg.command) {
         case uavcan_node_ExecuteCommand_Request_1_0_COMMAND_RESTART:
-            HAL_NVIC_SystemReset();
-            cmd_response.status = uavcan_node_ExecuteCommand_Response_1_0_STATUS_SUCCESS;
+            cmd_response.status = platformSpecificRequestRestart() ? 0 : 1;
             break;
 
         case uavcan_node_ExecuteCommand_Request_1_0_COMMAND_STORE_PERSISTENT_STATES:

Cyphal/platform_specific.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2024 Dmitry Ponomarev <[email protected]>
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef CYPHAL_PLATFORM_SPECIFIC_H_
+#define CYPHAL_PLATFORM_SPECIFIC_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+  * @return the time in milliseconds since the application started.
+  * @note This function must be provided by a user!
+  */
+uint32_t platformSpecificGetTimeMs();
+
+/**
+  * @return whether the request will be processed
+  * True  - the application will be restarted soon.
+  * False - the restarted is not supported or can't be handled at the moment.
+  * @note Implementation is recommended, but optional.
+  */
+bool platformSpecificRequestRestart();
+
+/**
+  * @param[out] out_id - hardware Unique ID
+  * @note Implementation is recommended, but optional.
+  */
+void platformSpecificReadUniqueID(uint8_t out_uid[16]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // CYPHAL_PLATFORM_SPECIFIC_H_

Cyphal/weak.cpp

@@ -2,11 +2,13 @@
 /// Copyright (c) 2022 Dmitry Ponomarev.
 /// Author: Dmitry Ponomarev <[email protected]>
 
-#include <stdint.h>
+#include "platform_specific.h"
+#include <string.h>
 
-/// Functions below are auxiliary.
-/// You may provide their implementation outside if you need.
-__attribute__ ((weak)) uint32_t HAL_GetUIDw0() { return 0; }
-__attribute__ ((weak)) uint32_t HAL_GetUIDw1() { return 0; }
-__attribute__ ((weak)) uint32_t HAL_GetUIDw2() { return 0; }
-__attribute__ ((weak)) void HAL_NVIC_SystemReset() { }
+__attribute__((weak)) bool platformSpecificRequestRestart() {
+    return false;  // because not implemented
+}
+
+__attribute__((weak)) void platformSpecificReadUniqueID(uint8_t out_uid[16]) {
+    memset(out_uid, 0x00, 16);
+}

Makefile

@@ -2,6 +2,9 @@
 # Distributed under the MIT License, available in the file LICENSE.
 # Author: Dmitry Ponomarev <[email protected]>
 
+ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
+LIBPARAMS_DIR:=${ROOT_DIR}/Libs/libparams
+
 all: ubuntu_minimal ubuntu_publisher_example
 
 define build_example
@@ -22,6 +25,10 @@ generage_dsdl:
 	mkdir -p build/nunavut_out
 	./scripts/nnvg_generate_c_headers.sh build/nunavut_out
 
+clone_dependencies:
+	mkdir -p build
+	if [ ! -d "${LIBPARAMS_DIR}" ]; then git clone --depth 1 --branch v0.8.4 https://github.com/PonomarevDA/libparams.git ${LIBPARAMS_DIR}; fi
+
 clean:
 	rm -rf build/examples/
 

Udral/actuator.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "actuator.hpp"
-#include "main.h"
 #include "params.hpp"
 
 namespace cyphal {
@@ -61,7 +60,7 @@ int8_t ReadinessSubscriber::init() {
 }
 
 uint8_t ReadinessSubscriber::get_readiness() {
-    if (_last_recv_time_ms == 0 || HAL_GetTick() > _last_recv_time_ms + 500) {
+    if (_last_recv_time_ms == 0 || platformSpecificGetTimeMs() > _last_recv_time_ms + 500) {
         return reg_udral_service_common_Readiness_0_1_SLEEP;
     }
 
@@ -72,7 +71,7 @@ void ReadinessSubscriber::callback(const CanardRxTransfer& transfer) {
     auto payload = static_cast<const uint8_t*>(transfer.payload);
     size_t payload_len = transfer.payload_size;
     reg_udral_service_common_Readiness_0_1_deserialize_(&msg, payload, &payload_len);
-    _last_recv_time_ms = HAL_GetTick();
+    _last_recv_time_ms = platformSpecificGetTimeMs();
 }
 
 }  // namespace cyphal

Udral/airspeed.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "airspeed.hpp"
-#include "main.h"
 #include "params.hpp"
 
 namespace cyphal {

Udral/barometer.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "barometer.hpp"
-#include "main.h"
 #include "cyphal.hpp"
 #include "params.hpp"
 

Udral/battery.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "battery.hpp"
-#include "main.h"
 #include "params.hpp"
 
 #define WH_TO_JOULE     3600
@@ -16,7 +15,7 @@ void UdralBatteryPublisher::set_nominal_data(float design_capacity_ah, uint64_t
 }
 
 void UdralBatteryPublisher::publish(float voltage, float current, float temperature_kelvin, float full_capacity_ah, float remaining_capacity_ah) {
-    uint32_t crnt_time_ms = HAL_GetTick();
+    uint32_t crnt_time_ms = platformSpecificGetTimeMs();
 
     if (crnt_time_ms > _next_source_pub_time_ms) {
         _next_source_pub_time_ms = crnt_time_ms + 10;

Udral/imu.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "imu.hpp"
-#include "main.h"
 #include "params.hpp"
 
 namespace cyphal {

Udral/rangefinder.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "rangefinder.hpp"
-#include "main.h"
 
 namespace cyphal {
 

Udral/rgbled.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "rgbled.hpp"
-#include "main.h"
 #include "params.hpp"
 
 namespace cyphal {
@@ -35,7 +34,7 @@ void HighColorSubscriber::callback(const CanardRxTransfer& transfer) {
     auto payload = static_cast<const uint8_t*>(transfer.payload);
     size_t payload_len = transfer.payload_size;
     reg_udral_physics_optics_HighColor_0_1_deserialize_(&_msg, payload, &payload_len);
-    _last_recv_ts_ms = HAL_GetTick();
+    _last_recv_ts_ms = platformSpecificGetTimeMs();
 }
 
 }  // namespace cyphal

examples/main.h → examples/_main.h

@@ -7,10 +7,4 @@
 
 #include <stdint.h>
 
-uint32_t HAL_GetTick();
-uint32_t HAL_GetUIDw0();
-uint32_t HAL_GetUIDw1();
-uint32_t HAL_GetUIDw2();
-void HAL_NVIC_SystemReset();
-
 #endif  // UBUNTU_MAIN_H_

examples/ubuntu_minimal/main.cpp

@@ -7,7 +7,7 @@
 #include <chrono>
 #include <thread>
 
-uint32_t HAL_GetTick() {
+uint32_t platformSpecificGetTimeMs() {
     static auto time_start = std::chrono::steady_clock::now();
     auto time_now = std::chrono::steady_clock::now();
     auto elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(time_now - time_start).count();

examples/ubuntu_minimal/main.h

@@ -5,11 +5,8 @@
 #ifndef UBUNTU_MAIN_H_
 #define UBUNTU_MAIN_H_
 
-
-uint32_t HAL_GetTick();
 uint32_t HAL_GetUIDw0();
 uint32_t HAL_GetUIDw1();
 uint32_t HAL_GetUIDw2();
-void HAL_NVIC_SystemReset();
 
 #endif  // UBUNTU_MAIN_H_

examples/ubuntu_publisher_example/application.cpp

@@ -7,12 +7,11 @@
 #include <chrono>
 #include <thread>
 #include "reg/udral/service/actuator/common/Feedback_0_1.h"
-#include "main.h"
 #include "params.hpp"
 
 void FeedbackPublisher::process() {
     static uint32_t prev_pub_time_ms = 1000;
-    uint32_t crnt_time_ms = HAL_GetTick();
+    uint32_t crnt_time_ms = platformSpecificGetTimeMs();
     if (crnt_time_ms < prev_pub_time_ms + 1000) {
         return;
     }

examples/ubuntu_publisher_example/main.cpp

@@ -7,7 +7,7 @@
 #include <chrono>
 #include <thread>
 
-uint32_t HAL_GetTick() {
+uint32_t platformSpecificGetTimeMs() {
     static auto time_start = std::chrono::steady_clock::now();
     auto time_now = std::chrono::steady_clock::now();
     auto elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(time_now - time_start).count();

platform_specific/bxcan/cyphal_transport_can.cpp

@@ -6,6 +6,7 @@
 #include <string.h>
 #include "bxcan.h"
 #include "main.h"
+#include "platform_specific.h"
 
 namespace cyphal {
 
@@ -42,7 +43,7 @@ bool CyphalTransportCan::transmit(const CanardTxQueueItem* transfer) {
         return false;
     }
 
-    const uint64_t current_time = HAL_GetTick() * 1000;
+    const uint64_t current_time = platformSpecificGetTimeMs() * 1000;
     const uint64_t deadline = current_time + 100 * 1000;
     const uint8_t iface_index = 0;
 

platform_specific/socketcan/cyphal_transport_can.cpp

@@ -5,7 +5,7 @@
 #include "cyphal_transport_can.hpp"
 #include <string.h>
 #include "socketcan.h"
-#include "main.h"
+#include "platform_specific.h"
 
 namespace cyphal {
 
@@ -47,7 +47,7 @@ bool CyphalTransportCan::transmit(const CanardTxQueueItem* transfer) {
         return false;
     }
 
-    const uint64_t current_time_us = HAL_GetTick() * 1000;
+    const uint64_t current_time_us = platformSpecificGetTimeMs() * 1000;
     int16_t res = socketcanPush(_instance, &transfer->frame, current_time_us);
     return (res > 0) ? true : false;
 }

zubax/compact_feedback.cpp

@@ -3,7 +3,6 @@
 /// Author: Dmitry Ponomarev <[email protected]>
 
 #include "compact_feedback.hpp"
-#include "main.h"
 #include "params.hpp"
 
 namespace zubax::telega {