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SelfID: Make SELF ID messages optional #68

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SelfID: Make SELF ID messages optional #68

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20 changes: 20 additions & 0 deletions RemoteIDModule/DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -614,6 +614,19 @@ void DroneCAN::handle_param_getset(CanardInstance* ins, CanardRxTransfer* transf
}
break;
}
case Parameters::ParamType::CHAR23: {
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE) {
return;
}
char v[24] {};
strncpy(v, (const char *)&req.value.string_value.data[0], req.value.string_value.len);
if (vp->min_len > 0 && strlen(v) < vp->min_len) {
can_printf("%s too short - min %u", vp->name, vp->min_len);
} else {
vp->set_char23(v);
}
break;
}
case Parameters::ParamType::CHAR64: {
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE) {
return;
Expand Down Expand Up @@ -670,6 +683,13 @@ void DroneCAN::handle_param_getset(CanardInstance* ins, CanardRxTransfer* transf
pkt.value.string_value.len = strlen(s);
break;
}
case Parameters::ParamType::CHAR23: {
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE;
const char *s = vp->get_char23();
strncpy((char*)pkt.value.string_value.data, s, sizeof(pkt.value.string_value.data));
pkt.value.string_value.len = strlen(s);
break;
}
case Parameters::ParamType::CHAR64: {
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE;
const char *s = vp->get_char64();
Expand Down
16 changes: 13 additions & 3 deletions RemoteIDModule/RemoteIDModule.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -183,9 +183,19 @@ static void set_data(Transport &t)
UAS_data.OperatorIDValid = 1;

// SelfID
UAS_data.SelfID.DescType = (ODID_desctype_t)self_id.description_type;
ODID_COPY_STR(UAS_data.SelfID.Desc, self_id.description);
UAS_data.SelfIDValid = 1;
if (g.have_self_id_info()) {
// from parameters
UAS_data.SelfID.DescType = (ODID_desctype_t)g.description_type;
ODID_COPY_STR(UAS_data.SelfID.Desc, g.description);
UAS_data.SelfIDValid = 1;
} else {
// from transport
if (strlen(self_id.description) > 0) {
UAS_data.SelfID.DescType = (ODID_desctype_t)self_id.description_type;
ODID_COPY_STR(UAS_data.SelfID.Desc, self_id.description);
UAS_data.SelfIDValid = 1;
}
}

// System
if (system.timestamp != 0) {
Expand Down
37 changes: 37 additions & 0 deletions RemoteIDModule/parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ const Parameters::Param Parameters::params[] = {
{ "UAS_TYPE", Parameters::ParamType::UINT8, (const void*)&g.ua_type, 0, 0, 15 },
{ "UAS_ID_TYPE", Parameters::ParamType::UINT8, (const void*)&g.id_type, 0, 0, 4 },
{ "UAS_ID", Parameters::ParamType::CHAR20, (const void*)&g.uas_id[0], 0, 0, 0 },
{ "DESCRIPTION_TYPE", Parameters::ParamType::UINT8, (const void*)&g.description_type, 0, 0, 255 },
{ "DESCRIPTION", Parameters::ParamType::CHAR23, (const void*)&g.description[0], 0, 0, 0 },
{ "BAUDRATE", Parameters::ParamType::UINT32, (const void*)&g.baudrate, 57600, 9600, 921600 },
{ "WIFI_NAN_RATE", Parameters::ParamType::FLOAT, (const void*)&g.wifi_nan_rate, 0, 0, 5 },
{ "WIFI_POWER", Parameters::ParamType::FLOAT, (const void*)&g.wifi_power, 20, 2, 20 },
Expand Down Expand Up @@ -166,6 +168,16 @@ void Parameters::Param::set_char20(const char *v) const
nvs_set_str(handle, name, v);
}

void Parameters::Param::set_char23(const char *v) const
{
if (min_len > 0 && strlen(v) < min_len) {
return;
}
memset((void*)ptr, 0, 24);
strncpy((char *)ptr, v, 23);
nvs_set_str(handle, name, v);
}

void Parameters::Param::set_char64(const char *v) const
{
if (min_len > 0 && strlen(v) < min_len) {
Expand Down Expand Up @@ -200,6 +212,12 @@ const char *Parameters::Param::get_char20() const
return p;
}

const char *Parameters::Param::get_char23() const
{
const char *p = (const char *)ptr;
return p;
}

const char *Parameters::Param::get_char64() const
{
const char *p = (const char *)ptr;
Expand Down Expand Up @@ -291,6 +309,11 @@ void Parameters::init(void)
nvs_get_str(handle, p.name, (char *)p.ptr, &len);
break;
}
case ParamType::CHAR23: {
size_t len = 24;
nvs_get_str(handle, p.name, (char *)p.ptr, &len);
break;
}
case ParamType::CHAR64: {
size_t len = 65;
nvs_get_str(handle, p.name, (char *)p.ptr, &len);
Expand Down Expand Up @@ -329,6 +352,17 @@ bool Parameters::have_basic_id_info(void) const
return strlen(g.uas_id) > 0 && g.id_type > 0 && g.ua_type > 0;
}

/**
* check if SelfID info is filled in with parameters
*
* @retval true Has SELF ID information.
* @retval false Does not have SELF ID information.
*/
bool Parameters::have_self_id_info(void) const
{
return strlen(g.description) > 0;
}

bool Parameters::set_by_name_uint8(const char *name, uint8_t v)
{
const auto *f = find(name);
Expand Down Expand Up @@ -368,6 +402,9 @@ bool Parameters::set_by_name_string(const char *name, const char *s)
case ParamType::CHAR20:
f->set_char20(s);
return true;
case ParamType::CHAR23:
f->set_char23(s);
return true;
case ParamType::CHAR64:
f->set_char64(s);
return true;
Expand Down
8 changes: 8 additions & 0 deletions RemoteIDModule/parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@ class Parameters {
uint8_t ua_type;
uint8_t id_type;
char uas_id[21] = "ABCD123456789";
//
uint8_t description_type;
char description[24]; // For debug = "Pesticides are sprayed";
//
float wifi_nan_rate;
float wifi_power;
float bt4_rate;
Expand All @@ -41,6 +45,7 @@ class Parameters {
FLOAT=3,
CHAR20=4,
CHAR64=5,
CHAR23=6,
};

struct Param {
Expand All @@ -56,11 +61,13 @@ class Parameters {
void set_uint8(uint8_t v) const;
void set_uint32(uint32_t v) const;
void set_char20(const char *v) const;
void set_char23(const char *v) const;
void set_char64(const char *v) const;
uint8_t get_uint8() const;
uint32_t get_uint32() const;
float get_float() const;
const char *get_char20() const;
const char *get_char23() const;
const char *get_char64() const;
bool get_as_float(float &v) const;
void set_as_float(float v) const;
Expand All @@ -74,6 +81,7 @@ class Parameters {
void init(void);

bool have_basic_id_info(void) const;
bool have_self_id_info(void) const;

bool set_by_name_uint8(const char *name, uint8_t v);
bool set_by_name_char64(const char *name, const char *s);
Expand Down