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Implement OpenCyphal Register API for OpenCyphal-ToF-Distance-Sensor-Node. #158

Merged
merged 82 commits into from
Sep 28, 2022
Merged

Implement OpenCyphal Register API for OpenCyphal-ToF-Distance-Sensor-Node. #158

merged 82 commits into from
Sep 28, 2022

Commits on Sep 14, 2022

  1. Providing basic register API.

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  2. Use unqique ID from chip.

    @aentinger
    aentinger committed Sep 14, 2022
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  3. Simplify sketch (remove all unnecessary namespaces).

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  4. Extract node info into separate header file in order to reduce code d… 

    …ensity in main file.
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Commits on Sep 15, 2022

  1. Minimal implementation of reading a registers value - does not work.

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  2. Simplify register list reading.

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  3. Extract registers into separate header file.

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Commits on Sep 16, 2022

  1. Using a receive ringbuffer for async data processing.

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  2. Minimal register list read example now existing.

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  3. Move check for a registered transmit function to a different space in… 

    … code.
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  4. Simplify transmit queue processing.

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  5. Simplify receive queue processing.

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  6. Update now async processing API across all examples.

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  7. Rename API spin to spinSome. 

    This indicates that are couple of loops are run (vs i.e. spinOnce), but that the function ultimately returns.
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  8. Replace obsolete keyword transmitCanFrame with spinSome.

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  9. Fix: Select the correct type of the access response.

    @aentinger
    aentinger committed Sep 16, 2022
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  10. Update README.

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Commits on Sep 18, 2022

  1. made uavcan.node.id and uavcan.node.description writeable

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  2. corrected spelling

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Commits on Sep 19, 2022

  1. Fix: Connect TMF8801 INT pin to D6 and capture events via attachInter… 

    …rupt.
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    aentinger committed Sep 19, 2022
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Commits on Sep 20, 2022

  1. Very basic idea off template-class based register api.

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  2. Replace std::string with C-String eases comparison and reduces compar… 

    …ison overhead.
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  3. Directly create a List response.

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  4. Bare-minimum very fugly register API.

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  5. Moving register base classes over to library and cleaning up structure.

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Commits on Sep 21, 2022

  1. Works, but not really. Fugly hack.

    @aentinger
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  2. Eliminate the need to dedicatedly store the last register.

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  3. Only one templated register type.

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    aentinger committed Sep 21, 2022
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  4. A bit of refactoring ...

    @aentinger
    aentinger committed Sep 21, 2022
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  5. Simplify control flow by initialising with an empty response.

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  6. Works, but only for uint8_t right now.

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  7. Move response initialisation up.

    @aentinger
    aentinger committed Sep 21, 2022
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  8. Refactor a bit for better readability.

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    aentinger committed Sep 21, 2022
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  9. Very crude DIY type_info.

    @aentinger
    aentinger committed Sep 21, 2022
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  10. Change node id on the fly.

    @aentinger
    aentinger committed Sep 21, 2022
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  11. Cleanup unused constants.

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    aentinger committed Sep 21, 2022
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  12. Make description R/W.

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    aentinger committed Sep 21, 2022
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Commits on Sep 22, 2022

  1. added Natural16 to Register API, added distance Subject-ID to example

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  2. Rename class Register to RegisterDerived.

    @aentinger
    aentinger committed Sep 22, 2022
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  3. Use typedefs for less semantic friction.

    @aentinger
    aentinger committed Sep 22, 2022
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  4. Pull enum class Access out of templated class RegisterDerived<>.

    @aentinger
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  5. Use enum class makes code considerably more readable.

    @aentinger
    aentinger committed Sep 22, 2022
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  6. Reorder if-statements to concur with enum class order.

    @aentinger
    aentinger committed Sep 22, 2022
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  7. Moving Access enum class into types subfolder.

    @aentinger
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  8. Templated method allows for more convenient public API.

    @aentinger
    aentinger committed Sep 22, 2022
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  9. Fix: Eliminate trailing whitespace.

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    aentinger committed Sep 22, 2022
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  10. Fix: add missing new-line.

    @aentinger
    aentinger committed Sep 22, 2022
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  11. added missing register types

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Commits on Sep 23, 2022

  1. Split RegisterBase in .h/.cpp.

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  2. Splitting RegisterList in .h/.cpp.

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  3. Split RegisterDerived in .hpp/.ipp.

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  4. Fix include guards (naming outdated with file name).

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  5. Move code from register_util within RegisterDerived, where it belongs… 

    … in any case.
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  6. Fix: enforce C calling convention to allow the linker to find the rig… 

    …ht function.
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  7. Move call to subscribe to end of reg-list-adding. Works the same, but… 

    … is semantically more correct.
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  8. added uavcan.pub.distance.type register

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  9. Fixing member initialisatio order fixes -Wreorder problem on ESP32.

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Commits on Sep 27, 2022

  1. Move creation of ListResponse into RegisterList class.

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  2. Eliminate comparison operator and move functionality to RegisterList … 

    …class.
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  3. Move ListResponse creation into separate class ListResponse.

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  4. Extract Access Response generation into dedicated class.

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  5. Remove no-longer necessary member variable _access.

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  6. Create enum class for type-safe persistence configuration.

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  7. Moving ListResponse/AccessReponse into subfolder util.

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  8. Rename enum class Persistence to Persistent, as it makes more sense s… 

    …emantically.
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  9. Change semantics, do only provide new value in OnWrite callback.

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  10. Provide callback to be called in case of a read request being sent (a… 

    …nd before that request is fulfilled.
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  11. Fix: It should be allowed to set a value from the user-side, RO refer… 

    …s to the perspective of the external communication partner.
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  12. Move calling of onWriteRequestFunc inside RegisterList.

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  13. Fix typo: CamelCase not fully consistent.

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  14. Extract union to type conversion into module AccessRequest. Also full… 

    …y transfer value setting into register class module.
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  15. Specifying type of enum class TypeTag to be of underlying type size_t.

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  16. Drop enum value Real16, as it is not supported by this platform.

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  17. Adding constant defining the number of entries within enum class Type… 

    …Tag.
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  18. Refactor read/write request handling by storing event handlers in fun… 

    …ction callback array.
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  19. Add limit-api which allows to limit the value which can be set via re… 

    …mote call.
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  20. CI spellcheck: fix typo.

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  21. Fix: only update the timestamp when the value is actually changed, no… 

    …t when it is retrieved.
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  22. Overloaded constructors ease the burden for configuration.

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Commits on Sep 28, 2022

  1. Fix: Using a std::map and checking for existence of a key rules out m… 

    …emory access violations due to an unexpected type tag.
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  2. Revert "Specifying type of enum class TypeTag to be of underlying typ… 

    …e size_t."

This reverts commit 7352e4b.
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  3. Fix: ReadWrite regs should be writable.

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