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Future: Support for sparse matrices in the protocol #53

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pavel-kirienko opened this issue Aug 18, 2015 · 1 comment

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commented Aug 18, 2015

At the moment, UAVCAN does not support sparse matrices at the protocol level, but rather delegates the issue to the user via matrix packing recommendations.

Native support for sparse matrices will remove the work of ensuring correct packing/unpacking from applications, which will likely have positive effect on simplicity and reliability.

The feature can be probably added in a backward-compatible way. It has not been included in the first revision of the specification due to the following:

  • Lack of support for CAN FD severely limits the bandwidth, so the applications are unlikely to exchange large matrices over UAVCAN.
  • The concept is not clearly defined yet.

There is an experimental branch in the pyuavcan repository, that contains a simple modification to the DSDL parser that enables support for matrices. It is based on two new syntax constructs:

  • type[R,C] field_name for a dense matrix, where R,C stands for the number of rows and columns;
  • type[<=R,C] field_name for a sparse matrix, R,C as above.

@pavel-kirienko pavel-kirienko transferred this issue from UAVCAN/public_regulated_data_types Jul 2, 2019

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commented Jul 2, 2019

Closing due to apparent lack of interest.

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