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aentingeraentinger
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Merge pull request #235 from rebeccaRossRobotics/feature/expose_metadata
Add returning Metadata to subscription callback
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‎examples/OpenCyphal-Heartbeat-Subscriber-With-Metadata/OpenCyphal-Heartbeat-Subscriber-With-Metadata.ino‎

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/*
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* This example shows reception of a OpenCyphal heartbeat message via CAN.
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*
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* Hardware:
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* - Arduino MKR family board, e.g. MKR VIDOR 4000
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* - Arduino MKR CAN shield
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <SPI.h>
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#include <107-Arduino-Cyphal.h>
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#include <107-Arduino-MCP2515.h>
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#include <107-Arduino-CriticalSection.h>
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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using namespace uavcan::node;
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/**************************************************************************************
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* CONSTANTS
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**************************************************************************************/
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static int const MKRCAN_MCP2515_CS_PIN = 3;
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static int const MKRCAN_MCP2515_INT_PIN = 7;
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/**************************************************************************************
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* FUNCTION DECLARATION
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**************************************************************************************/
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void onReceiveBufferFull(CanardFrame const &);
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void onHeartbeat_1_0_Received(Heartbeat_1_0 const & msg, TransferMetadata const & metadata);
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
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[]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); },
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[](uint8_t const data) { return SPI.transfer(data); },
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micros,
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onReceiveBufferFull,
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nullptr);
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Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
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Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
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Subscription heartbeat_subscription = node_hdl.create_subscription<Heartbeat_1_0>(onHeartbeat_1_0_Received);
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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{
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Serial.begin(9600);
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while(!Serial) { }
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delay(1000);
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Serial.println("|---- OpenCyphal Heartbeat Subscription With Metadata Example ----|");
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/* Setup SPI access */
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SPI.begin();
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pinMode(MKRCAN_MCP2515_CS_PIN, OUTPUT);
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digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH);
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/* Attach interrupt handler to register MCP2515 signaled by taking INT low */
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pinMode(MKRCAN_MCP2515_INT_PIN, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(MKRCAN_MCP2515_INT_PIN), []() { mcp2515.onExternalEventHandler(); }, LOW);
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/* Initialize MCP2515 */
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mcp2515.begin();
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mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ);
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mcp2515.setNormalMode();
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Serial.println("setup finished");
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}
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void loop()
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{
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/* Process all pending OpenCyphal actions.
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*/
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{
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CriticalSection crit_sec;
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node_hdl.spinSome();
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}
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}
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/**************************************************************************************
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* FUNCTION DEFINITION
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**************************************************************************************/
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void onReceiveBufferFull(CanardFrame const & frame)
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{
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node_hdl.onCanFrameReceived(frame);
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}
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void onHeartbeat_1_0_Received(Heartbeat_1_0 const & msg, TransferMetadata const & metadata)
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{
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char msg_buf[70];
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snprintf(
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msg_buf,
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sizeof(msg_buf),
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"Node ID= %d, Uptime = %d, Health = %d, Mode = %d, VSSC = %d",
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metadata.remote_node_id,
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msg.uptime,
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msg.health.value,
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msg.mode.value,
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msg.vendor_specific_status_code);
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Serial.println(msg_buf);
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}

‎examples/OpenCyphal-Heartbeat-Subscriber/OpenCyphal-Heartbeat-Subscriber.ino‎

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{
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Serial.begin(9600);
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while(!Serial) { }
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delay(1000);
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Serial.println("|---- OpenCyphal Heartbeat Subscription Example ----|");
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/* Setup SPI access */
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SPI.begin();
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mcp2515.begin();
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mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ);
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mcp2515.setNormalMode();
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Serial.println("setup finished");
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}
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void loop()

‎src/Subscription.ipp‎

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@@ -41,7 +41,12 @@ bool Subscription<T, OnReceiveCb>::onTransferReceived(CanardRxTransfer const & t
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auto const rc = deserialize(msg, msg_bitspan);
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if (!rc) return false;
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_on_receive_cb(msg);
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if constexpr (std::is_invocable_v<OnReceiveCb, T, TransferMetadata>) {
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_on_receive_cb(msg, fillMetadata(transfer));
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} else {
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_on_receive_cb(msg);
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}
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return true;
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}

‎src/SubscriptionBase.h‎

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#include <memory>
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#include "libcanard/canard.h"
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#include "util/transfer_metadata.hpp"
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/**************************************************************************************
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* NAMESPACE
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[[nodiscard]] CanardRxSubscription &canard_rx_subscription() { return _canard_rx_sub; }
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protected:
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[[nodiscard]] CanardTransferKind canard_transfer_kind() const { return _transfer_kind; }
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[[nodiscard]] TransferMetadata fillMetadata(CanardRxTransfer const & transfer)
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{
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TransferMetadata transfer_metadata;
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transfer_metadata.remote_node_id = static_cast<uint16_t>(transfer.metadata.remote_node_id);
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return transfer_metadata;
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}
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private:
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CanardTransferKind const _transfer_kind;

‎src/util/transfer_metadata.hpp‎

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/**
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* This software is distributed under the terms of the MIT License.
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* Copyright (c) 2020-2023 LXRobotics.
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* Author: Alexander Entinger <[email protected]>
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* Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
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*/
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#ifndef ARDUINO_CYPHAL_TRANSFER_METADATA_HPP_
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#define ARDUINO_CYPHAL_TRANSFER_METADATA_HPP_
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struct TransferMetadata final
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{
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uint16_t remote_node_id;
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// More stuff may appear here in the future!
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};
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#endif // ARDUINO_CYPHAL_TRANSFER_METADATA_HPP_

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