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Fix/service examples #231

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merged 2 commits into from
May 25, 2023
Merged

Fix/service examples #231

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627405a
change std::copy_n to std::copy with std::back_insertor
rebeccaRossRobotics May 25, 2023
24d4477
add in printing contents of parameter to serial monitor
rebeccaRossRobotics May 25, 2023
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36 changes: 24 additions & 12 deletions examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
nullptr);

Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 28);

ServiceClient<ExecuteCommand::Request_1_1> srv_client = node_hdl.create_service_client<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
2*1000*1000UL,
Expand All @@ -63,6 +63,8 @@ void setup()
{
Serial.begin(9600);
while(!Serial) { }
delay(1000);
Serial.println("|---- OpenCyphal Service Client Example ----|");

/* Setup SPI access */
SPI.begin();
Expand All @@ -78,17 +80,7 @@ void setup()
mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ);
mcp2515.setNormalMode();

/* Request some coffee. */
std::string const cmd_param("I want a double espresso with cream!");
ExecuteCommand::Request_1_1 req;
req.command = 0xCAFE;
std::copy_n(cmd_param.begin(),
std::min(cmd_param.length(), req.parameter.capacity()),
req.parameter.begin());


if (!srv_client->request(27 /* remote node id */, req))
Serial.println("Coffee request failed.");
Serial.println("setup finished");
}

void loop()
Expand All @@ -99,6 +91,26 @@ void loop()
CriticalSection crit_sec;
node_hdl.spinSome();
}

/* Publish the request once/second */
static unsigned long prev = 0;
unsigned long const now = millis();
if(now - prev > 1000)
{
prev = now;

/* Request some coffee. */
Serial.println("Requesting some coffee");
std::string const cmd_param("I want a double espresso with cream!");
ExecuteCommand::Request_1_1 req;
req.command = 0xCAFE;
std::copy(cmd_param.begin(), cmd_param.end(), std::back_inserter(req.parameter));


if (!srv_client->request(27 /* remote node id */, req)) {
Serial.println("Coffee request failed.");
}
}
}

/**************************************************************************************
Expand Down
20 changes: 19 additions & 1 deletion examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
nullptr);

Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 27);

ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
2*1000*1000UL,
Expand All @@ -63,9 +63,12 @@ void setup()
{
Serial.begin(9600);
while(!Serial) { }
delay(1000);
Serial.println("|---- OpenCyphal Service Server Example ----|");

/* Setup SPI access */
SPI.begin();

pinMode(MKRCAN_MCP2515_CS_PIN, OUTPUT);
digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH);

Expand All @@ -77,6 +80,8 @@ void setup()
mcp2515.begin();
mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ);
mcp2515.setNormalMode();

Serial.println("setup finished");
}

void loop()
Expand All @@ -101,6 +106,19 @@ void onReceiveBufferFull(CanardFrame const & frame)
ExecuteCommand::Response_1_1 onExecuteCommand_1_1_Request_Received(ExecuteCommand::Request_1_1 const & req)
{
ExecuteCommand::Response_1_1 rsp;
Serial.println("Coffee has been requested");

std::string parameter;

std::copy(
req.parameter.begin(),
req.parameter.end(),
std::back_inserter(parameter));

for (uint8_t i = 0; i < parameter.size(); i++) {
Serial.print(parameter[i]);
}
Serial.println("");

if (req.command == 0xCAFE)
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
Expand Down