void handleTimerEvent(const uavcan::TimerEvent&) final override
{
if (!read_client_.hasPendingCalls())
{
uavcan::protocol::file::Read::Request req;
req.path.path = source_path_;
req.offset = image_.size();
const int res = read_client_.call(source_node_id_, req);
if (res < 0)
{
std::cerr << "Read call failed: " << res << std::endl;
}
}
}
/**
* Download will start immediately upon construction.
* Destroy the object to cancel the process.
*/
FirmwareLoader(uavcan::INode& node,
uavcan::NodeID source_node_id,
const uavcan::protocol::file::Path::FieldTypes::path& source_path) :
uavcan::TimerBase(node),
source_node_id_(source_node_id),
source_path_(source_path),
read_client_(node)
{
image_.reserve(1024); // Arbitrary value
/*
* According to the specification, response priority equals request priority.
* Typically, file I/O should be executed at a very low priority level.
*/
read_client_.setPriority(uavcan::TransferPriority::OneHigherThanLowest);
read_client_.setCallback(ReadResponseCallback(this, &FirmwareLoader::handleReadResponse));
/*
* Rate-limiting is necessary to avoid bus congestion.
* The exact rate depends on the application's requirements and CAN bit rate.
*/
uavcan::TimerBase::startPeriodic(uavcan::MonotonicDuration::fromMSec(200));
}
can_driver_s():
speed_pid_client(getNode()),
position_pid_client(getNode()),
current_pid_client(getNode()),
config_client(getNode()),
enable_client(getNode()),
feedback_stream_pub(getNode()),
velocity_pub(getNode()),
position_pub(getNode()),
torque_pub(getNode()),
voltage_pub(getNode()),
trajectory_pub(getNode())
{
speed_pid_client.init();
speed_pid_client.setCallback(speed_pid_client_cb);
position_pid_client.init();
position_pid_client.setCallback(position_pid_client_cb);
current_pid_client.init();
current_pid_client.setCallback(current_pid_client_cb);
config_client.init();
config_client.setCallback(config_client_cb);
enable_client.init();
enable_client.setCallback(enable_client_cb);
feedback_stream_pub.init();
feedback_stream_pub.setCallback(feedback_stream_pub_cb);
enabled = false;
last_setpoint_update = timestamp_get();
}