feature/SupportDelCon

.github/workflows/test_regression.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Install gcc
         run: sudo apt-get install -y gcc libc6-dev
@@ -18,7 +18,7 @@ jobs:
           tests/test_regression.sh
 
       - name: Archive generated headers
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: dsdl_generated
           path: |

flytrex/delcon/21000.StateReport.uavcan

@@ -0,0 +1,120 @@
+# DelCon (delivery controller) state report data
+uint5 ACTIVE_MODE_INITIAL                  = 0          # INITIAL mode
+uint5 ACTIVE_MODE_ENCODER_ALIGNMENT        = 1          # ENCODER_ALIGNMENT mode
+uint5 ACTIVE_MODE_WIRE_HOMING              = 2          # WIRE_HOMING mode
+uint5 ACTIVE_MODE_IDLE_EMPTY               = 3          # IDLE_EMPTY mode
+uint5 ACTIVE_MODE_DIRECT_OVERRIDE          = 4          # DIRECT_OVERRIDE mode
+uint5 ACTIVE_MODE_HALT                     = 5          # HALT mode
+uint5 ACTIVE_MODE_GROUND_UNLOAD            = 6          # GROUND_UNLOAD mode
+uint5 ACTIVE_MODE_RESET                    = 7          # RESET mode
+uint5 ACTIVE_MODE_PREPARE_FOR_PICKUP       = 8          # PREPARE_FOR_PICKUP mode
+uint5 ACTIVE_MODE_LIFT_PACKAGE             = 9          # LIFT_PACKAGE mode
+uint5 ACTIVE_MODE_IDLE_LOADED              = 10         # IDLE_LOADED mode
+uint5 ACTIVE_MODE_LANDING                  = 11         # LANDING mode
+uint5 ACTIVE_MODE_PREPARE_FOR_DELIVERY     = 12         # PREPARE_FOR_DELIVERY mode
+uint5 ACTIVE_MODE_DELIVERY                 = 13         # DELIVERY mode
+uint5 ACTIVE_MODE_RELEASE_WIRE             = 14         # RELEASE_WIRE mode
+
+bool MODE_ERROR_NO_ERROR                   = 0          # No error
+bool MODE_ERROR_ASSERT                     = 1          # There is an error
+
+bool MODE_STATUS_DONE                      = 0          # Operation finished
+bool MODE_STATUS_IN_PROGRESS               = 1          # Operation is in progress
+
+bool HAS_PACKAGE_FALSE                     = 0          # There is no package on the hook
+bool HAS_PACKAGE_TRUE                      = 1          # There is a package on the hook
+
+bool NET_STAT_UP                           = 0          # The net is up
+bool NET_STAT_DOWN                         = 1          # The net is down
+
+bool LOCK_STATE_UNLOCKED                   = 0          # The state of the lock is unlocked
+bool LOCK_STATE_LOCKED                     = 1          # The state of the lock is locked
+
+bool ACK_OBSERVER_NO_FAULT                 = 0
+bool ACK_OBSERVER_FAULT                    = 1
+
+bool REQ_EXEC_HOLD_EXEC                    = 0          # Execute the current action
+bool REQ_EXEC_HOLD_HOLD                    = 1          # Stop the current action
+
+bool HOME_SWITCH_INACTIVE                  = 0          # Home switch inactive
+bool HOME_SWITCH_ACTIVE                    = 1          # Home switch active
+
+bool SPOOL_DEENERGIZE                      = 0          # Deenergize the motor
+bool SPOOL_ENERGIZE                        = 1          # Energize the motor
+
+bool ENCODER_UNRELIABLE                    = 0
+bool ENCODER_RELIABLE                      = 1
+
+bool SPOOL_ENERGIZE_NOT_ALLOWED            = 0
+bool SPOOL_ENERGIZE_ALLOWED                = 1
+
+bool SPOOL_TARGET_NOT_REACHED              = 0          # Spool target wasn't reached
+bool SPOOL_TARGET_REACHED                  = 1          # Spool target reached
+
+bool SPOOL_GO                              = 0          # Spool the wire
+bool SPOOL_EMERGENCY_HOLD                  = 1          # Spool hold
+
+bool SPOOL_EXECUTING                       = 0
+bool SPOOL_HOLDING                         = 1
+
+bool SPOOL_SHAFT_CONTROL                   = 0
+bool SPOOL_LOAD_CONTROL                    = 1
+
+bool HOMING_INCOMPLETE                     = 0          # Wire homing is incomplete
+bool HOMING_COMPLETE                       = 1          # Wire homing complete
+
+bool ALIGNMENT_INCOMPLETE                  = 0          # Encoder alignment is incomplete
+bool ALIGNMENT_COMPLETE                    = 1          # Encoder alignment is complete
+
+uint5 active_mode                                       # The current active mode
+uint5 active_submode                                    # The current active submode
+bool mode_error                                         # The error mode bit. If asserted then error_flags contains the current error map
+bool mode_status                                        # The current mode's status
+uint32 error_flags                                      # A bitmap of all the possible errors
+uint16 motor_rpm                                        # Motor revolutions per minute
+bool has_package                                        # A flag that indicates if a package is sensed on the wire
+float32 instant_weight                                  # The weight of the package in kg. Relevant when has_package = 1
+bool net_state                                          # A flag that indicates the net status
+bool lock_state                                         # The state of the lock servo
+uint32 mode_duration                                    # Time in milliseconds in the current mode
+float32 motor_temperature                               # The current temperature of the motor
+float32 spool_input_max_lag                             # The distance (in meters) that the actual wire position is permitted to fall behind the target position before the controller triggers an error
+float32 spool_input_max_lag_window                      # The maximum time (e.g., 0.5 seconds) the controller will wait for the spool to reach a commanded position
+float32 spool_input_max_overshoot                       # The difference between the peak physical position reached by the spool and the final steady-state setpoint
+float32 spool_input_max_overshoot_window                # The time window which allows spool/unspool overshoot
+float32 spool_input_min_speed                           # The lowest linear velocity at which the wire is permitted to travel while the system is in an active "run" state
+float32 spool_input_min_speed_window                    # The maximum duration the system allows for the motor to reach or maintain its "Min Speed" threshold
+bool spool_input_ack_observer_fault
+float32 spool_input_load_acc                            # The rate of change of the angular velocity of the rotating spool drum (measured in rad/s^2)
+float32 spool_input_load_dec                            # The rate at which the angular velocity of the spool drum decreases (measured in rad/s^2)
+bool spool_input_req_shaft_ctrl_load
+bool spool_input_req_exec_hold                          # A flag for executing/stopping the current action
+uint8 spool_input_target_ext                            # The desired total length of cable to be deployed or unwound
+bool spool_input_home_switch_activated                  # The endswitch which is triggered when the bobbin is in the house
+float32 spool_input_max_force                           # The maximum allowable cable tension or linear pulling force the system can exert
+float32 spool_input_min_force                           # The minimum amount of tension or pulling effort that must be maintained on the wire to ensure safe and reliable operation
+float32 spool_input_max_torque                          # The software or hardware limit on the rotational twisting force the motor can apply to the spool shaft
+float32 spool_input_min_torque                          # The lower threshold of rotational force that the motor is commanded or allowed to maintain
+bool spool_input_energize                               # Energizing the motor
+bool spool_input_encoder_reliable
+bool spool_internal_energize_allowed                    # AND (spool_input_energize, spool_input_encoder_reliable)
+float32 spool_internal_ext_setpoint                     # The target value for the length of wire that comes out from the trajectory generator
+float32 spool_internal_ext_err                          # The difference between where the wire should be and where it actually is (spool_internal_ext_setpoint - spool_output_ext)
+float32 spool_internal_shaft_setpoint                   # The target angular position for the motor's output shaft
+float32 spool_internal_shaft_err                        # The difference between where the shaft should be and where it actually is (spool_internal_shaft_setpoint - spool_output_shaft_pos)
+float32 spool_internal_quad_current_req                 # The value for the specific component of motor current that is responsible for generating torque
+float32 spool_internal_quad_current_active_setpoint     # The final, safety-filtered command for torque-producing current (Iq) that is actually sent to the motor's power electronics
+float32 spool_output_trajectory_margin                  # The maximum allowable physical distance the system can deviate from its pre-planned motion path
+bool spool_output_target_reached                        # A flag which indicates if the wire reached target
+bool spool_output_go_emergency_hold                     # A flag which controls if the spooling enters emergency hold or continue with operation
+bool spool_output_executing_holding                     # OR (spool_output_go_emergency_hold, spool_input_req_exec_hold)
+bool spool_output_shaft_load_ctrl                       # AND(spool_input_req_shaft_ctrl_load, spool_output_homing_complete)
+float32 spool_output_ext                                # The output wire extension in meters
+float32 spool_output_shaft_pos                          # The output shaft position in radian
+bool spool_output_homing_complete                       # "WIRE_HOMING" mode is complete
+float32 spool_output_force                              # The real-time linear pulling effort currently being exerted by the cable (in N)
+float32 spool_output_torque                             # The rotational twisting force currently being generated at the motor's output shaft (in Nm)
+float32 spool_output_bobbin_speed                       # Bobbin speed, rad/s
+float32 spool_output_load_speed                         # Load speed, m/s
+float32 spool_output_total_energy_cntr                  # Total energy counter, J
+bool spool_output_alignment_complete                    # Alignment complete flag

flytrex/delcon/21001.DirectOverride.uavcan

@@ -0,0 +1,45 @@
+# DelCon (delivery controller) direct override data
+
+bool NET_STAT_UP                           = 0          # The net is up
+bool NET_STAT_DOWN                         = 1          # The net is down
+
+bool LOCK_STATE_UNLOCKED                   = 0          # The state of the lock is unlocked
+bool LOCK_STATE_LOCKED                     = 1          # The state of the lock is locked
+
+bool ACK_OBSERVER_NO_FAULT                 = 0
+bool ACK_OBSERVER_FAULT                    = 1
+
+bool REQ_EXEC_HOLD_EXEC                    = 0          # Execute the current action
+bool REQ_EXEC_HOLD_HOLD                    = 1          # Stop the current action
+
+bool HOME_SWITCH_INACTIVE                  = 0          # Home switch inactive
+bool HOME_SWITCH_ACTIVE                    = 1          # Home switch active
+
+bool SPOOL_DEENERGIZE                      = 0          # Deenergize the motor
+bool SPOOL_ENERGIZE                        = 1          # Energize the motor
+
+bool ENCODER_UNRELIABLE                    = 0
+bool ENCODER_RELIABLE                      = 1
+
+uint8 node_id                                           # The destination node ID
+bool net_state                                          # A flag that indicates the net status
+bool lock_state                                         # The state of the lock servo
+float16 spool_input_max_lag                             # The distance (in meters) that the actual wire position is permitted to fall behind the target position before the controller triggers an error
+float16 spool_input_max_lag_window                      # The maximum time (e.g., 0.5 seconds) the controller will wait for the spool to reach a commanded position
+float16 spool_input_max_overshoot                       # The difference between the peak physical position reached by the spool and the final steady-state setpoint
+float16 spool_input_max_overshoot_window                # The time window which allows spool/unspool overshoot
+float16 spool_input_min_speed                           # The lowest linear velocity at which the wire is permitted to travel while the system is in an active "run" state
+float16 spool_input_min_speed_window                    # The maximum duration the system allows for the motor to reach or maintain its "Min Speed" threshold
+bool spool_input_ack_observer_fault
+float16 spool_input_load_acc                            # The rate of change of the angular velocity of the rotating spool drum (measured in rad/s^2)
+float16 spool_input_load_dec                            # The rate at which the angular velocity of the spool drum decreases (measured in rad/s^2)
+float16 spool_input_req_shaft_ctrl_load
+bool spool_input_req_exec_hold                          # A flag for executing/stopping the current action
+uint8 spool_input_target_ext                            # The desired total length of cable to be deployed or unwound
+bool spool_input_home_switch_activated                  # The endswitch which is triggered when the bobbin is in the house
+float16 spool_input_max_force                           # The maximum allowable cable tension or linear pulling force the system can exert
+float16 spool_input_min_force                           # The minimum amount of tension or pulling effort that must be maintained on the wire to ensure safe and reliable operation
+float16 spool_input_max_torque                          # The software or hardware limit on the rotational twisting force the motor can apply to the spool shaft
+float16 spool_input_min_torque                          # The lower threshold of rotational force that the motor is commanded or allowed to maintain
+bool spool_input_energize                               # Energizing the motor
+bool spool_input_encoder_reliable

flytrex/delcon/21002.ParamSet.uavcan

@@ -0,0 +1,23 @@
+# DelCon (delivery controller) parameters set command
+
+uint4 OPERATION_RECALL                     = 0               # Read a ParamSet configuration from the spool controller
+uint4 OPERATION_STORE                      = 1               # Store a ParamSet configuration to the spool controller
+uint4 OPERATION_EXECUTE                    = 2               # Bypass the external flash and execute ParamSet values in the spool controller (the parameters aren't saved)
+uint4 OPERATION_RESPONSE                   = 3               # A response that is sent from the node
+
+bool SPOOL_SHAFT_CONTROL                   = 0
+bool SPOOL_LOAD_CONTROL                    = 1
+
+uint4 operation                                              # The operation to perform
+Error error                                                  # A returned error by the responder
+uint16 param_id                                              # The ParamSet ID number
+bool load_not_shaft_control                                  # false: shaft control (SPOOL_SHAFT_CONTROL); true: load control (SPOOL_LOAD_CONTROL)
+float32 shaft_pos_rad                                        # The shaft position in radian
+float32 completion_time_s                                    # The time to complete the setup
+float32 min_torque_Nm                                        # The lower threshold of rotational force that the motor is commanded or allowed to maintain
+float32 max_torque_Nm                                        # The software or hardware limit on the rotational twisting force the motor can apply to the spool shaft
+float32 obs_tension_detector_min_torque_Nm                   # The lower threshold of rotational force that the motor is commanded or allowed to maintain
+float32 obs_tension_detector_window_s                        # The time in seconds which obs_tension_detector_min_torque_Nm was observed
+float32 obs_traj_deviation_pos_m                             # Maximum allowed positive deviation from the planned trajectory [m]
+float32 obs_traj_deviation_neg_m                             # Maximum allowed negative deviation from the planned trajectory [m]
+float32 obs_allowed_deviation_pos_window_s                   # Time window over which positive trajectory deviation is evaluated [s]

flytrex/delcon/21003.DesignConstantsSet.uavcan

@@ -0,0 +1,15 @@
+# DelCon (delivery controller) constants set
+
+uint4 OPERATION_RECALL                     = 0               # Read the constants configuration from the spool controller
+uint4 OPERATION_STORE                      = 1               # Store the constants configuration to the spool controller
+uint4 OPERATION_UNUSED                     = 2               # Currently unused value
+uint4 OPERATION_RESPONSE                   = 3               # A response that is sent from the node
+
+uint4 operation                                              # The operation to perform
+Error error                                                  # A returned error by the responder
+float32 wire_diameter                                        # Diameter of the wire in meters
+float32 barrel_diameter                                      # The diameter of the barrel in meters
+float32 spool_width                                          # The width of the spool
+float32 gearbox_ratio                                        # Gearbox ratio
+float32 wire_packing_efficiencies                            # Packing efficiency factor of the wound wire
+float32 total_length_of_spooled_wire                         # The wire's total length in meters

flytrex/delcon/21010.WriteConfigFile.uavcan

@@ -0,0 +1,5 @@
+# DelCon (delivery controller) write configuration file (a broadcast message that is used for send/response)
+
+uint8 destination_node_id                                    # The destination's node ID
+Error error                                                  # A returned error by the responder
+Path image_file_remote_path                                  # The file to upload to the DelCon

flytrex/delcon/21011.ReadConfigFile.uavcan

@@ -0,0 +1,4 @@
+# DelCon (delivery controller) read configuration file (a broadcast message that is used for send/response)
+
+uint8 destination_node_id                                    # The destination's node ID
+Error error                                                  # A returned error by the responder

flytrex/delcon/Error.uavcan

@@ -0,0 +1,23 @@
+#
+# Nested type.
+# File operation & DelCon result code.
+#
+int16 STATUS_OK                = 0
+int16 STATUS_UNKNOWN_ERROR     = 32767
+
+int16 STATUS_NOT_FOUND         = 2
+int16 STATUS_IO_ERROR          = 5
+int16 STATUS_ACCESS_DENIED     = 13
+int16 STATUS_IS_DIRECTORY      = 21 # I.e. attempt to read/write on a path that points to a directory
+int16 STATUS_INVALID_VALUE     = 22 # E.g. file name is not valid for the target file system
+int16 STATUS_FILE_TOO_LARGE    = 27
+int16 STATUS_OUT_OF_SPACE      = 28
+int16 STATUS_NOT_IMPLEMENTED   = 38
+
+int16 STATUS_IDX_OUT_OF_BOUND  = 40 # Param ID is out of bound
+
+int16 STATUS_BUSY              = 50                          # The DelCon is busy, so file write needs to be postpone
+int16 STATUS_LOW_MEM           = 51                          # DelCon experiences low memory, so file write needs to be postpone
+int16 STATUS_TIMEOUT           = 52                          # Timeout from previous file read request detected
+
+int16 value

flytrex/delcon/Path.uavcan

@@ -0,0 +1,11 @@
+#
+# Nested type.
+#
+# File system path in UTF8.
+#
+# The only valid separator is forward slash.
+#
+
+uint8 SEPARATOR = '/'
+
+uint8[<=200] path