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Added fixed PortIDs to all wrappers #109

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merged 7 commits into from
Jun 22, 2021
Merged

Added fixed PortIDs to all wrappers #109

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69d3caa
Implemented #99
moiflo033 Jun 21, 2021
8f574fd
Merge branch '107-systems:master' into master
moiflo033 Jun 21, 2021
19c60eb
Changed 5 wrappers to be templated
moiflo033 Jun 21, 2021
85aa2ed
Merge remote-tracking branch 'origin/master'
moiflo033 Jun 21, 2021
b24a30d
Fixed compilation errors.
moiflo033 Jun 21, 2021
21ba5dd
Fixed compilation errors.
moiflo033 Jun 21, 2021
997b4c7
Fixed compilation errors in test.
moiflo033 Jun 21, 2021
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8 changes: 4 additions & 4 deletions examples/UAVCAN-Blink/UAVCAN-Blink.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ ArduinoMCP2515 mcp2515(spi_select,

ArduinoUAVCAN uc(13, transmitCanFrame);

Heartbeat_1_0 hb;
Heartbeat_1_0<> hb;

/**************************************************************************************
* SETUP/LOOP
Expand Down Expand Up @@ -97,8 +97,8 @@ void setup()

/* Configure initial heartbeat */
hb.data.uptime = 0;
hb = Heartbeat_1_0::Health::NOMINAL;
hb = Heartbeat_1_0::Mode::INITIALIZATION;
hb = Heartbeat_1_0<>::Health::NOMINAL;
hb = Heartbeat_1_0<>::Mode::INITIALIZATION;
hb.data.vendor_specific_status_code = 0;

/* Subscribe to the reception of Bit message. */
Expand All @@ -109,7 +109,7 @@ void loop()
{
/* Update the heartbeat object */
hb.data.uptime = millis() / 1000;
hb = Heartbeat_1_0::Mode::OPERATIONAL;
hb = Heartbeat_1_0<>::Mode::OPERATIONAL;

/* Publish the heartbeat once/second */
static unsigned long prev = 0;
Expand Down
8 changes: 4 additions & 4 deletions examples/UAVCAN-Heartbeat-Publish/UAVCAN-Heartbeat-Publish.ino
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Expand Up @@ -51,7 +51,7 @@ ArduinoMCP2515 mcp2515(spi_select,

ArduinoUAVCAN uc(13, transmitCanFrame);

Heartbeat_1_0 hb;
Heartbeat_1_0<> hb;

/**************************************************************************************
* SETUP/LOOP
Expand All @@ -78,16 +78,16 @@ void setup()

/* Configure initial heartbeat */
hb.data.uptime = 0;
hb = Heartbeat_1_0::Health::NOMINAL;
hb = Heartbeat_1_0::Mode::INITIALIZATION;
hb = Heartbeat_1_0<>::Health::NOMINAL;
hb = Heartbeat_1_0<>::Mode::INITIALIZATION;
hb.data.vendor_specific_status_code = 0;
}

void loop()
{
/* Update the heartbeat object */
hb.data.uptime = millis() / 1000;
hb = Heartbeat_1_0::Mode::OPERATIONAL;
hb = Heartbeat_1_0<>::Mode::OPERATIONAL;

/* Publish the heartbeat once/second */
static unsigned long prev = 0;
Expand Down
4 changes: 2 additions & 2 deletions examples/UAVCAN-Heartbeat-Subscribe/UAVCAN-Heartbeat-Subscribe.ino
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Expand Up @@ -76,7 +76,7 @@ void setup()
mcp2515.setNormalMode();

/* Subscribe to the reception of Heartbeat message. */
uc.subscribe<Heartbeat_1_0>(onHeartbeat_1_0_Received);
uc.subscribe<Heartbeat_1_0<>>(onHeartbeat_1_0_Received);
}

void loop()
Expand Down Expand Up @@ -115,7 +115,7 @@ void onReceiveBufferFull(CanardFrame const & frame)

void onHeartbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uc */)
{
Heartbeat_1_0 const hb = Heartbeat_1_0::deserialize(transfer);
Heartbeat_1_0<> const hb = Heartbeat_1_0<>::deserialize(transfer);

char msg[64];
snprintf(msg, 64,
Expand Down
8 changes: 4 additions & 4 deletions examples/UAVCAN-Service-Client/UAVCAN-Service-Client.ino
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Expand Up @@ -79,14 +79,14 @@ void setup()

/* Request some coffee. */
char const cmd_param[] = "I want a double espresso with cream";
ExecuteCommand_1_0::Request req;
ExecuteCommand_1_0::Request<> req;
req.data.command = 0xCAFE;
req.data.parameter.count = std::min(strlen(cmd_param), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
std::copy(cmd_param,
cmd_param + req.data.parameter.count,
req.data.parameter.elements);

uc.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req, 27 /* remote node id */, onExecuteCommand_1_0_Response_Received);
uc.request<ExecuteCommand_1_0::Request<>, ExecuteCommand_1_0::Response<>>(req, 27 /* remote node id */, onExecuteCommand_1_0_Response_Received);
}

void loop()
Expand Down Expand Up @@ -131,9 +131,9 @@ bool transmitCanFrame(CanardFrame const & frame)

void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uc */)
{
ExecuteCommand_1_0::Response const rsp = ExecuteCommand_1_0::Response::deserialize(transfer);
ExecuteCommand_1_0::Response<> const rsp = ExecuteCommand_1_0::Response<>::deserialize(transfer);

if (rsp.data.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::SUCCESS))
if (rsp.data.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response<>::Status::SUCCESS))
Serial.println("Coffee successful retrieved");
else
Serial.println("Error when retrieving coffee");
Expand Down
12 changes: 6 additions & 6 deletions examples/UAVCAN-Service-Server/UAVCAN-Service-Server.ino
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Expand Up @@ -78,7 +78,7 @@ void setup()
mcp2515.setNormalMode();

/* Subscribe to incoming service requests */
uc.subscribe<ExecuteCommand_1_0::Request>(onExecuteCommand_1_0_Request_Received);
uc.subscribe<ExecuteCommand_1_0::Request<>>(onExecuteCommand_1_0_Request_Received);
}

void loop()
Expand Down Expand Up @@ -123,18 +123,18 @@ bool transmitCanFrame(CanardFrame const & frame)

void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uc)
{
ExecuteCommand_1_0::Request req = ExecuteCommand_1_0::Request::deserialize(transfer);
ExecuteCommand_1_0::Request<> req = ExecuteCommand_1_0::Request<>::deserialize(transfer);

if (req.data.command == 0xCAFE)
{
ExecuteCommand_1_0::Response rsp;
rsp = ExecuteCommand_1_0::Response::Status::SUCCESS;
ExecuteCommand_1_0::Response<> rsp;
rsp = ExecuteCommand_1_0::Response<>::Status::SUCCESS;
uc.respond(rsp, transfer.remote_node_id, transfer.transfer_id);
}
else
{
ExecuteCommand_1_0::Response rsp;
rsp = ExecuteCommand_1_0::Response::Status::NOT_AUTHORIZED;
ExecuteCommand_1_0::Response<> rsp;
rsp = ExecuteCommand_1_0::Response<>::Status::NOT_AUTHORIZED;
uc.respond(rsp, transfer.remote_node_id, transfer.transfer_id);
}
}
14 changes: 7 additions & 7 deletions extras/test/src/test_ExecuteCommand_ServiceClient.cpp
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Expand Up @@ -49,7 +49,7 @@ static bool transmitCanFrame(CanardFrame const & f)

static void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
{
ExecuteCommand_1_0::Response const received_response = ExecuteCommand_1_0::Response::deserialize(transfer);
ExecuteCommand_1_0::Response<> const received_response = ExecuteCommand_1_0::Response<>::deserialize(transfer);
response.status = received_response.data.status;
}

Expand All @@ -63,15 +63,15 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);

std::string const cmd_1_param = "I want a double espresso with cream";
ExecuteCommand_1_0::Request req_1;
ExecuteCommand_1_0::Request<> req_1;
req_1.data.command = 0xCAFE;
req_1.data.parameter.count = std::min(cmd_1_param.length(), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
std::copy(cmd_1_param.c_str(),
cmd_1_param.c_str() + req_1.data.parameter.count,
req_1.data.parameter.elements);


REQUIRE(uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req_1, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
REQUIRE(uavcan.request<ExecuteCommand_1_0::Request<>, ExecuteCommand_1_0::Response<>>(req_1, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
/* Transmit all the CAN frames. */
while(uavcan.transmitCanFrame()) { }

Expand Down Expand Up @@ -107,18 +107,18 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
uavcan.onCanFrameReceived(util::toCanardFrame(0x126CC69B, data_1));

/* Check if the expected response has been indeed received. */
REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::NOT_AUTHORIZED));
REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response<>::Status::NOT_AUTHORIZED));

/* Send a second request. */
std::string const cmd_2_param = "I do not need coffee anymore";
ExecuteCommand_1_0::Request req_2;
ExecuteCommand_1_0::Request<> req_2;
req_2.data.command = 0xDEAD;
req_2.data.parameter.count = std::min(cmd_2_param.length(), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
std::copy(cmd_2_param.c_str(),
cmd_2_param.c_str() + req_2.data.parameter.count,
req_2.data.parameter.elements);

REQUIRE(uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req_2, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
REQUIRE(uavcan.request<ExecuteCommand_1_0::Request<>, ExecuteCommand_1_0::Response<>>(req_2, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
/* Transmit all the CAN frames. */
can_frame_vect.clear();
while(uavcan.transmitCanFrame()) { }
Expand Down Expand Up @@ -154,5 +154,5 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
uavcan.onCanFrameReceived(util::toCanardFrame(0x126CC69B, data_2));

/* Check if the expected response has been indeed received. */
REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::BAD_STATE));
REQUIRE(response.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response<>::Status::BAD_STATE));
}
8 changes: 4 additions & 4 deletions extras/test/src/test_ExecuteCommand_ServiceServer.cpp
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Expand Up @@ -49,7 +49,7 @@ static bool transmitCanFrame(CanardFrame const & f)

static void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)
{
ExecuteCommand_1_0::Request received_request = ExecuteCommand_1_0::Request::deserialize(transfer);
ExecuteCommand_1_0::Request<> received_request = ExecuteCommand_1_0::Request<>::deserialize(transfer);

/* The next 2 lines are just for test purposes, you won't
* have them in your real application.
Expand All @@ -63,8 +63,8 @@ static void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfe
/* Deal with the command ... */

/* ... and construct and send the response. */
ExecuteCommand_1_0::Response response;
response = ExecuteCommand_1_0::Response::Status::NOT_AUTHORIZED;
ExecuteCommand_1_0::Response<> response;
response = ExecuteCommand_1_0::Response<>::Status::NOT_AUTHORIZED;

uavcan.respond(response, transfer.remote_node_id, transfer.transfer_id);
}
Expand All @@ -79,7 +79,7 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is received from a client", "[exec
ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);

/* Subscribe to incoming server requests. */
REQUIRE(uavcan.subscribe<ExecuteCommand_1_0::Request>(onExecuteCommand_1_0_Request_Received) == true);
REQUIRE(uavcan.subscribe<ExecuteCommand_1_0::Request<>>(onExecuteCommand_1_0_Request_Received) == true);

/*
* pyuavcan call 13 435.uavcan.node.ExecuteCommand.1.0 '{"command": 0xCAFE, "parameter": "I want a double espresso with cream"}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),27)'
Expand Down
18 changes: 9 additions & 9 deletions extras/test/src/test_Heartbeat.cpp
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Expand Up @@ -46,7 +46,7 @@ static bool transmitCanFrame(CanardFrame const & f)

static void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
{
Heartbeat_1_0 const received_hb = Heartbeat_1_0::deserialize(transfer);
Heartbeat_1_0<> const received_hb = Heartbeat_1_0<>::deserialize(transfer);

hb_node_id = transfer.remote_node_id;
hb_data.uptime = received_hb.data.uptime;
Expand All @@ -63,10 +63,10 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
{
ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);

Heartbeat_1_0 hb;
Heartbeat_1_0<> hb;
hb.data.uptime = 9876;
hb = Heartbeat_1_0::Health::NOMINAL;
hb = Heartbeat_1_0::Mode::SOFTWARE_UPDATE;
hb = Heartbeat_1_0<>::Health::NOMINAL;
hb = Heartbeat_1_0<>::Mode::SOFTWARE_UPDATE;
hb.data.vendor_specific_status_code = 5;
uavcan.publish(hb);
while(uavcan.transmitCanFrame()) { }
Expand All @@ -77,8 +77,8 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
REQUIRE(can_frame.data == std::vector<uint8_t>{0x94, 0x26, 0x00, 0x00, 0x00, 0x03, 0x05, 0xE0});

hb.data.uptime = 9881;
hb = Heartbeat_1_0::Health::ADVISORY;
hb = Heartbeat_1_0::Mode::MAINTENANCE;
hb = Heartbeat_1_0<>::Health::ADVISORY;
hb = Heartbeat_1_0<>::Mode::MAINTENANCE;
hb.data.vendor_specific_status_code = 123;
uavcan.publish(hb);
while(uavcan.transmitCanFrame()) { }
Expand All @@ -94,7 +94,7 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is received", "[heartbeat-02]"
uavcan_node_Heartbeat_1_0_initialize_(&hb_data);
ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, nullptr);

REQUIRE(uavcan.subscribe<Heartbeat_1_0>(onHeatbeat_1_0_Received));
REQUIRE(uavcan.subscribe<Heartbeat_1_0<>>(onHeatbeat_1_0_Received));

/* Create:
* pyuavcan publish 7509.uavcan.node.Heartbeat.1.0 '{uptime: 1337, health: {value: 2}, mode: {value: 2}, vendor_specific_status_code: 42}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)'
Expand All @@ -110,7 +110,7 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is received", "[heartbeat-02]"

REQUIRE(hb_node_id == 59);
REQUIRE(hb_data.uptime == 1337);
REQUIRE(hb_data.health.value == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Health::CAUTION));
REQUIRE(hb_data.mode.value == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Mode::MAINTENANCE));
REQUIRE(hb_data.health.value == arduino::_107_::uavcan::to_integer(Heartbeat_1_0<>::Health::CAUTION));
REQUIRE(hb_data.mode.value == arduino::_107_::uavcan::to_integer(Heartbeat_1_0<>::Mode::MAINTENANCE));
REQUIRE(hb_data.vendor_specific_status_code == 42);
}
2 changes: 1 addition & 1 deletion src/wrappers/uavcan/diagnostic/Record_1_0.hpp
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Expand Up @@ -27,7 +27,7 @@ namespace diagnostic {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_diagnostic_Record_1_0_FIXED_PORT_ID_>
class Record_1_0
{

Expand Down
2 changes: 1 addition & 1 deletion src/wrappers/uavcan/diagnostic/Record_1_1.hpp
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Expand Up @@ -27,7 +27,7 @@ namespace diagnostic {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_diagnostic_Record_1_1_FIXED_PORT_ID_>
class Record_1_1
{

Expand Down
4 changes: 2 additions & 2 deletions src/wrappers/uavcan/file/GetInfo_0_1.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace GetInfo_0_1 {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_GetInfo_0_1_FIXED_PORT_ID_>
class Request
{

Expand Down Expand Up @@ -65,7 +65,7 @@ class Request
}
};

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_GetInfo_0_1_FIXED_PORT_ID_>
class Response
{

Expand Down
4 changes: 2 additions & 2 deletions src/wrappers/uavcan/file/GetInfo_0_2.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace GetInfo_0_2 {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_GetInfo_0_2_FIXED_PORT_ID_>
class Request
{

Expand Down Expand Up @@ -65,7 +65,7 @@ class Request
}
};

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_GetInfo_0_2_FIXED_PORT_ID_>
class Response
{

Expand Down
4 changes: 2 additions & 2 deletions src/wrappers/uavcan/file/List_0_1.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace List_0_1 {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_List_0_1_FIXED_PORT_ID_>
class Request
{

Expand Down Expand Up @@ -65,7 +65,7 @@ class Request
}
};

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_List_0_1_FIXED_PORT_ID_>
class Response
{

Expand Down
4 changes: 2 additions & 2 deletions src/wrappers/uavcan/file/List_0_2.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace List_0_2 {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_List_0_2_FIXED_PORT_ID_>
class Request
{

Expand Down Expand Up @@ -65,7 +65,7 @@ class Request
}
};

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_List_0_2_FIXED_PORT_ID_>
class Response
{

Expand Down
4 changes: 2 additions & 2 deletions src/wrappers/uavcan/file/Modify_1_0.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace Modify_1_0 {
* CLASS DECLARATION
**************************************************************************************/

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_Modify_1_0_FIXED_PORT_ID_>
class Request
{

Expand Down Expand Up @@ -65,7 +65,7 @@ class Request
}
};

template <CanardPortID ID>
template <CanardPortID ID = uavcan_file_Modify_1_0_FIXED_PORT_ID_>
class Response
{

Expand Down
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