1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
//!
//! Node configuration registers that can be accessed from other nodes
pub mod basic;
use alloc::vec::Vec;
use core::str;
use crate::{Node, ResponseToken, TransferHandler};
use canadensis_core::time::{milliseconds, Instant};
use canadensis_core::transfer::ServiceTransfer;
use canadensis_core::transport::{Receiver, Transport};
use canadensis_data_types::uavcan::register::access_1_0::{self, AccessRequest, AccessResponse};
use canadensis_data_types::uavcan::register::list_1_0::{self, ListRequest, ListResponse};
use canadensis_data_types::uavcan::register::name_1_0::Name;
use canadensis_data_types::uavcan::register::value_1_0::Value;
use canadensis_data_types::uavcan::time::synchronized_timestamp_1_0::SynchronizedTimestamp;
use canadensis_encoding::Deserialize;
pub use canadensis_derive_register_block::RegisterBlock;
/// A block of registers that can be accessed externally through the uavcan.register interface
///
/// This trait can be derived for any struct whose fields all implement [`Register`].
///
/// # Examples
///
/// ```
/// # use canadensis::register::basic::{SimpleRegister, RegisterString};
/// # use canadensis::register::RegisterBlock;
/// #[derive(RegisterBlock)]
/// struct Registers {
/// node_id: SimpleRegister<u16>,
/// description: SimpleRegister<RegisterString>,
/// }
///
/// impl Default for Registers {
/// fn default() -> Self {
/// Registers {
/// node_id: SimpleRegister::with_value("uavcan.node.id", true, true, 65535),
/// description: SimpleRegister::new("uavcan.node.description", true, true),
/// }
/// }
/// }
/// ```
pub trait RegisterBlock {
/// Returns a reference to the register at the provided index
///
/// Register indexes should start at 0 and not contain any gaps.
fn register_by_index(&self, index: usize) -> Option<&dyn Register>;
/// Returns a mutable reference to the register at the provided index
///
/// Register indexes should start at 0 and not contain any gaps.
fn register_by_index_mut(&mut self, index: usize) -> Option<&mut dyn Register>;
/// Returns a mutable reference to the register with the provided name
fn register_by_name_mut(&mut self, name: &str) -> Option<&mut dyn Register>;
}
/// Information about how a register can be accessed
#[derive(Debug, Clone)]
pub struct Access {
/// If this register is mutable
///
/// Mutable registers can be written by other nodes.
pub mutable: bool,
/// If this register is persistent
///
/// Persistent registers are preserved when the node restarts.
pub persistent: bool,
}
/// A register that can be read and optionally written
pub trait Register {
/// Returns the name of this register
///
/// The name must not be more than 256 bytes long. Each register must have a distinct name.
fn name(&self) -> &str;
/// Returns information about how this register can be accessed
fn access(&self) -> Access;
/// Reads this register and returns its value
///
/// This function must not return `Value::Empty`.
fn read(&self) -> Value;
/// Writes the value of this register
///
/// This function may be used on a register that is both persistent and mutable to load its
/// value from persistent storage.
///
/// Outside code must not call this function in response to a write request from another node
/// if this register is not mutable.
///
/// This function returns an error if the provided value does not have an appropriate type
/// for this register.
///
/// If this function returns an error, the value of this register must be the same as before
/// the call to write().
///
/// # Panics
///
/// This function may panic if `self.access()` returned a value with `mutable` set to false.
fn write(&mut self, value: &Value) -> Result<(), WriteError>;
}
/// Errors that can occur when attempting to write a register
#[derive(Debug)]
pub enum WriteError {
/// The type of the value, or the number of values in an array, was incorrect
Type,
}
/// Handles access requests for registers
///
/// Basic steps:
/// 1. Create a register block (this may be a tuple of `Register`s or a custom type that implements
/// `RegisterBlock`)
/// 2. Create a handler using `RegisterHandler::init`. Pass the register block and a node used to
/// receive service requests
/// 3. When calling `accept` on the node, pass the register handler as a transfer handler
/// (or use some other method to pass incoming service requests to the register handler).
/// This lets the register handler process requests and send responses.
pub struct RegisterHandler<B> {
block: B,
}
impl<B> RegisterHandler<B>
where
B: RegisterBlock,
{
/// Creates a register handler
pub fn new(block: B) -> Self {
RegisterHandler { block }
}
/// Subscribes to register list and register access requests
///
/// This function returns an error if the provided node does not have enough space to listen
/// for requests.
pub fn subscribe_requests<N>(
node: &mut N,
) -> Result<(), <N::Receiver as Receiver<N::Instant>>::Error>
where
N: Node,
{
node.subscribe_request(access_1_0::SERVICE, 515, milliseconds(1000))?;
node.subscribe_request(list_1_0::SERVICE, 2, milliseconds(0))?;
Ok(())
}
/// Returns a reference to the register block
///
/// This can be used to read the current values.
pub fn block(&self) -> &B {
&self.block
}
/// Returns a mutable reference to the register block
///
/// This can be used to write the register values.
pub fn block_mut(&mut self) -> &mut B {
&mut self.block
}
fn handle_access_request(&mut self, request: &AccessRequest) -> AccessResponse {
match str::from_utf8(&request.name.name) {
Ok(register_name) => {
log::debug!("Handling access request for {}", register_name);
if let Some(register) = self.block.register_by_name_mut(register_name) {
register_handle_access(register, request)
} else {
// Register doesn't exist, return empty
AccessResponse {
timestamp: SynchronizedTimestamp { microsecond: 0 },
mutable: false,
persistent: false,
value: Value::Empty(
canadensis_data_types::uavcan::primitive::empty_1_0::Empty {},
),
}
}
}
Err(_) => {
// Invalid name, return empty
AccessResponse {
timestamp: SynchronizedTimestamp { microsecond: 0 },
mutable: false,
persistent: false,
value: Value::Empty(
canadensis_data_types::uavcan::primitive::empty_1_0::Empty {},
),
}
}
}
}
fn handle_list_request(&mut self, request: &ListRequest) -> ListResponse {
log::debug!("Handling register list request, index {}", {
request.index
});
match self.block.register_by_index(request.index.into()) {
Some(register) => {
let name = register.name().as_bytes();
// Truncate to 256 bytes if necessary
let name = if name.len() <= 256 {
name
} else {
&name[..256]
};
ListResponse {
name: Name {
name: heapless::Vec::from_slice(name).expect("Incorrect name length"),
},
}
}
None => {
// Empty name
ListResponse {
name: Name {
name: heapless::Vec::new(),
},
}
}
}
}
}
fn register_handle_access(register: &mut dyn Register, request: &AccessRequest) -> AccessResponse {
let access = register.access();
if access.mutable
&& !matches!(
request.value,
Value::Empty(canadensis_data_types::uavcan::primitive::empty_1_0::Empty {})
)
{
// Write errors are reported by returning the unmodified register value.
let _ = register.write(&request.value);
}
// Now read the register and return its properties
AccessResponse {
timestamp: SynchronizedTimestamp { microsecond: 0 },
mutable: access.mutable,
persistent: access.persistent,
value: register.read(),
}
}
impl<I, B, T> TransferHandler<I, T> for RegisterHandler<B>
where
I: Instant,
B: RegisterBlock,
T: Transport,
{
fn handle_request<N: Node<Instant = I, Transport = T>>(
&mut self,
node: &mut N,
token: ResponseToken<T>,
transfer: &ServiceTransfer<Vec<u8>, I, T>,
) -> bool {
match transfer.header.service {
access_1_0::SERVICE => {
if let Ok(request) = AccessRequest::deserialize_from_bytes(&transfer.payload) {
let response = self.handle_access_request(&request);
let status = node.send_response(token, milliseconds(1000), &response);
if status.is_err() {
log::warn!("Out of memory when sending register access response");
}
true
} else {
false
}
}
list_1_0::SERVICE => {
if let Ok(request) = ListRequest::deserialize_from_bytes(&transfer.payload) {
let response = self.handle_list_request(&request);
let status = node.send_response(token, milliseconds(1000), &response);
if status.is_err() {
log::warn!("Out of memory when sending register list response");
}
true
} else {
false
}
}
_ => false,
}
}
}