#include <firmware_update_trigger.hpp>

Inheritance diagram for uavcan::FirmwareUpdateTrigger:

[legend]

Classes
struct	NextNodeIDSearchPredicate

Public Member Functions
	FirmwareUpdateTrigger (INode &node, IFirmwareVersionChecker &checker)

unsigned	getNumPendingNodes () const

MonotonicDuration	getRequestInterval () const

bool	isTimerRunning () const

void	setRequestInterval (const MonotonicDuration interval)

int	start (NodeInfoRetriever &node_info_retriever, const FirmwareFilePath &arg_common_path_prefix=FirmwareFilePath(), const TransferPriority priority=TransferPriority::OneHigherThanLowest)

	~FirmwareUpdateTrigger ()

Public Member Functions inherited from uavcan::INodeInfoListener
virtual void	handleNodeStatusMessage (const ReceivedDataStructure< protocol::NodeStatus > &msg)

virtual	~INodeInfoListener ()

Private Types
enum	{ DefaultRequestIntervalMs = 1000 }

typedef MethodBinder< FirmwareUpdateTrigger , void(FirmwareUpdateTrigger::)(const ServiceCallResult< protocol::file::BeginFirmwareUpdate > &)>	BeginFirmwareUpdateResponseCallback

typedef IFirmwareVersionChecker::FirmwareFilePath	FirmwareFilePath

Private Member Functions
INode &	getNode ()

void	handleBeginFirmwareUpdateResponse (const ServiceCallResult< protocol::file::BeginFirmwareUpdate > &result)

virtual void	handleNodeInfoRetrieved (const NodeID node_id, const protocol::GetNodeInfo::Response &node_info)

virtual void	handleNodeInfoUnavailable (NodeID node_id)

virtual void	handleNodeStatusChange (const NodeStatusMonitor::NodeStatusChangeEvent &event)

virtual void	handleTimerEvent (const TimerEvent &)

NodeID	pickNextNodeID () const

void	trySetPendingNode (const NodeID node_id, const FirmwareFilePath &path)

Private Member Functions inherited from uavcan::TimerBase
MonotonicTime	getDeadline () const

MonotonicDuration	getPeriod () const

Scheduler &	getScheduler () const

bool	isRunning () const

void	startOneShotWithDeadline (MonotonicTime deadline)

void	startOneShotWithDelay (MonotonicDuration delay)

void	startPeriodic (MonotonicDuration period)

void	stop ()

	TimerBase (INode &node)

Private Attributes
ServiceClient< protocol::file::BeginFirmwareUpdate, BeginFirmwareUpdateResponseCallback >	begin_fw_update_client_

IFirmwareVersionChecker &	checker_

FirmwareFilePath	common_path_prefix_

uint8_t	last_queried_node_id_

NodeInfoRetriever *	node_info_retriever_

Map< NodeID, FirmwareFilePath >	pending_nodes_

MonotonicDuration	request_interval_

Detailed Description

This class subscribes to updates from NodeInfoRetriever in order to detect nodes that need firmware updates. The decision process of whether a firmware update is needed is relayed to the application via IFirmwareVersionChecker. If the application confirms that the update is needed, this class will begin sending uavcan.protocol.file.BeginFirmwareUpdate periodically (period is configurable) to every node that needs an update in a round-robin fashion. There are the following termination conditions for the periodical sending process:

The node responds with confirmation. In this case the class will forget about the node on the assumption that its job is done here. Confirmation will be reported to the application via the interface.
The node responds with an error, and the error code is not ERROR_IN_PROGRESS. In this case the class will request the application via the interface mentioned above about its further actions - either give up or retry, possibly with a different firmware.
The node responds with error ERROR_IN_PROGRESS. In this case the class behaves exactly in the same way as if response was successful (because the firmware is alredy being updated, so the goal is fulfilled). Confirmation will be reported to the application via the interface.
The node goes offline or restarts. In this case the node will be immediately forgotten, and the process will repeat again later because the node info retriever re-queries GetNodeInfo every time when a node restarts.

Since the target node (i.e. node that is being updated) will try to retrieve the specified firmware file using the file services (uavcan.protocol.file.*), the provided firmware path must be reachable for the file server (FileServer, BasicFileServer). Normally, an application that serves as UAVCAN firmware update server will include at least the following components:

this firmware update trigger;
dynamic node ID allocation server;
file server.

Implementation details: the class uses memory pool to keep the list of nodes that have not responded yet, which limits the maximum length of the path to the firmware file, which is covered in IFirmwareVersionChecker. To somewhat relieve the maximum path length limitation, the class can be supplied with a common prefix that will be prepended to firmware pathes before sending requests. Interval at which requests are being sent is configurable, but the default value should cover the needs of virtually all use cases (as always).

Definition at line 136 of file firmware_update_trigger.hpp.

Member Typedef Documentation

◆ BeginFirmwareUpdateResponseCallback

typedef MethodBinder<FirmwareUpdateTrigger*, void (FirmwareUpdateTrigger::*)(const ServiceCallResult<protocol::file::BeginFirmwareUpdate>&)> uavcan::FirmwareUpdateTrigger::BeginFirmwareUpdateResponseCallback

private

Definition at line 141 of file firmware_update_trigger.hpp.

◆ FirmwareFilePath

typedef IFirmwareVersionChecker::FirmwareFilePath uavcan::FirmwareUpdateTrigger::FirmwareFilePath

private

Definition at line 143 of file firmware_update_trigger.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
DefaultRequestIntervalMs

Definition at line 145 of file firmware_update_trigger.hpp.

Constructor & Destructor Documentation

◆ FirmwareUpdateTrigger()

uavcan::FirmwareUpdateTrigger::FirmwareUpdateTrigger	(	INode &	node,
		IFirmwareVersionChecker &	checker
	)

inline

Definition at line 366 of file firmware_update_trigger.hpp.

◆ ~FirmwareUpdateTrigger()

uavcan::FirmwareUpdateTrigger::~FirmwareUpdateTrigger ( )

inline

Definition at line 376 of file firmware_update_trigger.hpp.

Member Function Documentation

◆ getNode()

INode& uavcan::FirmwareUpdateTrigger::getNode ( )

inlineprivate

Definition at line 225 of file firmware_update_trigger.hpp.

◆ getNumPendingNodes()

unsigned uavcan::FirmwareUpdateTrigger::getNumPendingNodes ( ) const

inline

Definition at line 465 of file firmware_update_trigger.hpp.

◆ getRequestInterval()

MonotonicDuration uavcan::FirmwareUpdateTrigger::getRequestInterval ( ) const

inline

Interval at which uavcan.protocol.file.BeginFirmwareUpdate requests are being sent. Note that default value should be OK for any use case.

Definition at line 442 of file firmware_update_trigger.hpp.

◆ handleBeginFirmwareUpdateResponse()

void uavcan::FirmwareUpdateTrigger::handleBeginFirmwareUpdateResponse ( const ServiceCallResult< protocol::file::BeginFirmwareUpdate > & result )

inlineprivate

Definition at line 278 of file firmware_update_trigger.hpp.

◆ handleNodeInfoRetrieved()

virtual void uavcan::FirmwareUpdateTrigger::handleNodeInfoRetrieved	(	const NodeID	node_id,
		const protocol::GetNodeInfo::Response &	node_info
	)

inlineprivatevirtual

Called when a response to GetNodeInfo request is received. This happens shortly after the node restarts or becomes online for the first time.

Parameters

node_id	Node ID of the node
response	Node info struct

Implements uavcan::INodeInfoListener.

Definition at line 196 of file firmware_update_trigger.hpp.

◆ handleNodeInfoUnavailable()

virtual void uavcan::FirmwareUpdateTrigger::handleNodeInfoUnavailable ( NodeID node_id )

inlineprivatevirtual

Called when the retriever decides that the node does not support the GetNodeInfo service. This method will never be called if the number of attempts is unlimited.

Implements uavcan::INodeInfoListener.

Definition at line 190 of file firmware_update_trigger.hpp.

◆ handleNodeStatusChange()

virtual void uavcan::FirmwareUpdateTrigger::handleNodeStatusChange ( const NodeStatusMonitor::NodeStatusChangeEvent & event )

inlineprivatevirtual

This call is routed directly from NodeStatusMonitor. Default implementation does nothing.

Parameters

event Node status change event

Reimplemented from uavcan::INodeInfoListener.

Definition at line 213 of file firmware_update_trigger.hpp.

◆ handleTimerEvent()

virtual void uavcan::FirmwareUpdateTrigger::handleTimerEvent ( const TimerEvent & event )

inlineprivatevirtual

Implement this method in your class to receive callbacks.

Implements uavcan::TimerBase.

Definition at line 323 of file firmware_update_trigger.hpp.

◆ isTimerRunning()

bool uavcan::FirmwareUpdateTrigger::isTimerRunning ( ) const

inline

This method is mostly needed for testing. When triggering is not in progress, the class consumes zero CPU time.

Definition at line 463 of file firmware_update_trigger.hpp.

◆ pickNextNodeID()

NodeID uavcan::FirmwareUpdateTrigger::pickNextNodeID ( ) const

inlineprivate

Definition at line 243 of file firmware_update_trigger.hpp.

◆ setRequestInterval()

void uavcan::FirmwareUpdateTrigger::setRequestInterval ( const MonotonicDuration interval )

inline

Definition at line 443 of file firmware_update_trigger.hpp.

◆ start()

int uavcan::FirmwareUpdateTrigger::start	(	NodeInfoRetriever &	node_info_retriever,
		const FirmwareFilePath &	arg_common_path_prefix = `FirmwareFilePath()`,
		const TransferPriority	priority = `TransferPriority::OneHigherThanLowest`
	)

inline

Starts the object. Once started, it can't be stopped unless destroyed.

Parameters

node_info_retriever	The object will register itself against this retriever. When the destructor is called, the object will unregister itself.
common_path_prefix	If set, this path will be prefixed to all firmware pathes provided by the application interface. The prefix does not need to end with path separator; the last trailing one will be removed (so use '//' if you need '/'). By default the prefix is empty.

Returns: Negative error code.

Definition at line 397 of file firmware_update_trigger.hpp.

◆ trySetPendingNode()

void uavcan::FirmwareUpdateTrigger::trySetPendingNode	(	const NodeID	node_id,
		const FirmwareFilePath &	path
	)

inlineprivate

Definition at line 227 of file firmware_update_trigger.hpp.

Member Data Documentation

◆ begin_fw_update_client_

ServiceClient<protocol::file::BeginFirmwareUpdate, BeginFirmwareUpdateResponseCallback> uavcan::FirmwareUpdateTrigger::begin_fw_update_client_

private

Definition at line 173 of file firmware_update_trigger.hpp.

◆ checker_

IFirmwareVersionChecker& uavcan::FirmwareUpdateTrigger::checker_

private

Definition at line 175 of file firmware_update_trigger.hpp.

◆ common_path_prefix_

FirmwareFilePath uavcan::FirmwareUpdateTrigger::common_path_prefix_

private

Definition at line 183 of file firmware_update_trigger.hpp.

◆ last_queried_node_id_

uint8_t uavcan::FirmwareUpdateTrigger::last_queried_node_id_

mutableprivate

Definition at line 185 of file firmware_update_trigger.hpp.

◆ node_info_retriever_

NodeInfoRetriever* uavcan::FirmwareUpdateTrigger::node_info_retriever_

private

Definition at line 177 of file firmware_update_trigger.hpp.

◆ pending_nodes_

Map<NodeID, FirmwareFilePath> uavcan::FirmwareUpdateTrigger::pending_nodes_

private

Definition at line 179 of file firmware_update_trigger.hpp.

◆ request_interval_

MonotonicDuration uavcan::FirmwareUpdateTrigger::request_interval_

private

Definition at line 181 of file firmware_update_trigger.hpp.

The documentation for this class was generated from the following file:

firmware_update_trigger.hpp

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ BeginFirmwareUpdateResponseCallback

◆ FirmwareFilePath

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ FirmwareUpdateTrigger()

◆ ~FirmwareUpdateTrigger()

Member Function Documentation

◆ getNode()

◆ getNumPendingNodes()

◆ getRequestInterval()

◆ handleBeginFirmwareUpdateResponse()

◆ handleNodeInfoRetrieved()

◆ handleNodeInfoUnavailable()

◆ handleNodeStatusChange()

◆ handleTimerEvent()

◆ isTimerRunning()

◆ pickNextNodeID()

◆ setRequestInterval()

◆ start()

◆ trySetPendingNode()

Member Data Documentation

◆ begin_fw_update_client_

◆ checker_

◆ common_path_prefix_

◆ last_queried_node_id_

◆ node_info_retriever_

◆ pending_nodes_

◆ request_interval_