Revert kitcan back to just power distribution

The vendor plugins should be handling version checking. Required for CTRE, so might as well be for Rev too

Author: ThadHouse

CMakeLists.txt

@@ -93,12 +93,12 @@ add_subdirectory(common)
 add_subdirectory(radio)
 
 if (MRC_BUILD)
-add_subdirectory(kitcan)
+add_subdirectory(powerdistribution)
 endif()
 
 if (MRC_BUILD)
 install(
-    TARGETS RadioDaemon KitCanDaemon
+    TARGETS RadioDaemon PowerDistributionDaemon
     RUNTIME DESTINATION bin
     LIBRARY DESTINATION lib
     ARCHIVE DESTINATION lib

README.md

@@ -6,10 +6,10 @@ Currently, allwpilib is a submodule for all builds. However eventually we plan o
 
 ## Services
 
-### KitCan
+### PowerDistribution
 
-This service reads the Power Distribution and Pnequmatics can data, and sends that data to the DS service. That service then sends the data to the DS allowing integrated logging and version reporting.
+This service reads the Power Distribution can data, and sends that data to the DS service. That service then sends the data to the DS allowing integrated logging.
 
 ### Radio
 
-This service reads the status from the Vivid Hosting radio, and sends that to the system service.
+This service reads the status from the Vivid Hosting radio, and sends that to the system service.

kitcan/CMakeLists.txt

@@ -0,0 +1,10 @@
+project(PowerDistributionDaemon)
+
+add_executable(PowerDistributionDaemon main.cpp)
+target_compile_features(PowerDistributionDaemon PRIVATE cxx_std_20)
+wpilib_target_warnings(PowerDistributionDaemon)
+target_link_libraries(PowerDistributionDaemon PRIVATE Common ntcore wpinet wpiutil)
+
+if (MRC_BUILD)
+target_compile_definitions(PowerDistributionDaemon PRIVATE MRC_DAEMON_BUILD)
+endif()

powerdistribution/CMakeLists.txt

@@ -16,29 +16,16 @@
 #include "networktables/NetworkTableInstance.h"
 #include "networktables/RawTopic.h"
 #include "networktables/IntegerTopic.h"
-#include "networktables/StringArrayTopic.h"
-#include "networktables/BooleanTopic.h"
 
-#define NUM_CAN_BUSES 5
+#define NUM_CAN_BUSES 2
 
 static constexpr uint32_t deviceTypeMask = 0x3F000000;
 static constexpr uint32_t powerDistributionFilter = 0x08000000;
-static constexpr uint32_t pneumaticsFilter = 0x09000000;
-static constexpr uint32_t manufacturerMask = 0x00FF0000;
-static constexpr uint32_t ctreFilter = 0x00040000;
-static constexpr uint32_t revFilter = 0x00050000;
-
-constexpr uint32_t revPhVersionPacketMask = 0x09052600;
-constexpr uint32_t revPhAnyPacketMask = 0x09050000;
-constexpr uint32_t revPdhVersionPacketMask = 0x08052600;
 
 struct CanState {
-    wpi::mutex sendVersionsMutex;
     int socketHandle{-1};
     nt::IntegerPublisher deviceIdPublisher;
     std::array<nt::RawPublisher, 4> framePublishers;
-    nt::StringArrayPublisher versionPublisher;
-    std::unordered_map<uint32_t, std::string> sentVersions;
     unsigned busId{0};
 
     ~CanState() {
@@ -47,85 +34,12 @@ struct CanState {
         }
     }
 
-    void maybeSendVersionRequest(uint32_t canId);
-
-    void handleRevVersionFrame(const canfd_frame& frame);
-    void sendVersions();
-
     void handleCanFrame(const canfd_frame& frame);
     void handlePowerFrame(const canfd_frame& frame);
-    void handlePneumaticsFrame(const canfd_frame& frame);
     bool startUvLoop(unsigned bus, const nt::NetworkTableInstance& ntInst,
                      wpi::uv::Loop& loop);
 };
 
-void CanState::sendVersions() {
-    std::scoped_lock lock{sendVersionsMutex};
-
-    for (auto&& versions : sentVersions) {
-        if (versions.first == 0 || versions.second.empty()) {
-            continue;
-        }
-
-        uint32_t frameId = versions.first;
-
-        std::array<std::string, 3> sendData;
-        sendData[0] = std::to_string(frameId);
-        sendData[1] = ((frameId & deviceTypeMask) == pneumaticsFilter)
-                          ? "Rev PH"
-                          : "Rev PDH";
-        sendData[2] = versions.second;
-
-        fmt::print("Setting {:x} {} {}\n", frameId, sendData[1], sendData[2]);
-
-        versionPublisher.Set(sendData);
-    }
-}
-
-void CanState::maybeSendVersionRequest(uint32_t canId) {
-    auto& sent = sentVersions[canId];
-    if (!sent.empty()) {
-        return;
-    }
-
-    canfd_frame frame;
-    memset(&frame, 0, sizeof(frame));
-    frame.can_id = canId | CAN_EFF_FLAG | CAN_RTR_FLAG;
-    frame.len = 8;
-
-    printf("Requesting %x version frame\n", canId);
-
-    send(socketHandle, &frame, CAN_MTU, 0);
-}
-
-void CanState::handleRevVersionFrame(const canfd_frame& frame) {
-    if (frame.len < 8) {
-        return;
-    }
-
-    uint8_t year = frame.data[2];
-    uint8_t minor = frame.data[1];
-    uint8_t fix = frame.data[0];
-
-    uint32_t frameId = frame.can_id & CAN_EFF_MASK;
-
-    char buf[32];
-    snprintf(buf, sizeof(buf), "%u.%u.%u", year, minor, fix);
-
-    std::scoped_lock lock{sendVersionsMutex};
-    sentVersions[frameId] = buf;
-}
-
-void CanState::handlePneumaticsFrame(const canfd_frame& frame) {
-    // The only thing we're doing with pneumatics is version receiving.
-
-    if ((frame.can_id & revPhVersionPacketMask) == revPhVersionPacketMask) {
-        handleRevVersionFrame(frame);
-    } else if ((frame.can_id & revPhAnyPacketMask) == revPhAnyPacketMask) {
-        maybeSendVersionRequest(revPhVersionPacketMask | (frame.can_id & 0x3F));
-    }
-}
-
 void CanState::handleCanFrame(const canfd_frame& frame) {
     // Can't support FD frames
     if (frame.flags & CANFD_FDF) {
@@ -138,8 +52,6 @@ void CanState::handleCanFrame(const canfd_frame& frame) {
 
     if (maskedDeviceType == powerDistributionFilter) {
         handlePowerFrame(frame);
-    } else if (maskedDeviceType == pneumaticsFilter) {
-        handlePneumaticsFrame(frame);
     }
 }
 
@@ -151,30 +63,21 @@ void CanState::handlePowerFrame(const canfd_frame& frame) {
 
     if (frame.can_id & 0x10000) {
         // Rev Frame
-        if (apiId == 0x98) {
-            // Version frame
-            handleRevVersionFrame(frame);
-            return;
-        } else if (apiId < 0x60 || apiId > 0x63) {
+        if (apiId < 0x60 || apiId > 0x63) {
             // Not valid
             return;
         }
 
-        maybeSendVersionRequest(revPdhVersionPacketMask | (deviceId & 0x3F));
-
         frameNum = apiId - 0x60;
     } else {
         // CTRE frame
-
         if (apiId == 0x5D) {
             // Special case
             frameNum = 3;
+        } else if (apiId < 0x50 || apiId > 0x52) {
+            // Not valid
+            return;
         } else {
-            if (apiId < 0x50 || apiId > 0x52) {
-                // Not valid
-                return;
-            }
-
             frameNum = apiId - 0x50;
         }
     }
@@ -194,7 +97,7 @@ void CanState::handlePowerFrame(const canfd_frame& frame) {
 
 bool CanState::startUvLoop(unsigned bus, const nt::NetworkTableInstance& ntInst,
                            wpi::uv::Loop& loop) {
-    if (busId >= NUM_CAN_BUSES) {
+    if (bus >= NUM_CAN_BUSES) {
         return false;
     }
 
@@ -217,25 +120,20 @@ bool CanState::startUvLoop(unsigned bus, const nt::NetworkTableInstance& ntInst,
     deviceIdPublisher =
         ntInst.GetIntegerTopic("/pd/" + busIdStr + "/deviceid").Publish();
 
-    versionPublisher =
-        ntInst.GetStringArrayTopic("/Netcomm/Reporting/UserVersionStr")
-            .Publish(options);
-
     socketHandle =
         socket(PF_CAN, SOCK_RAW | SOCK_NONBLOCK | SOCK_CLOEXEC, CAN_RAW);
 
     if (socketHandle == -1) {
         return false;
     }
 
-    // Filter to PD or pneumatics device type.
+    // Filter to PD device type.
     // Both mfg types have the "4" bit set. They just
     // differ on the 1 bit. So a single filter can be used,
     // ignoring that bit.
-    // Same thing for 8 vs 9 for the device type
     struct can_filter filter {
         .can_id = 0x08040000 | CAN_EFF_FLAG,
-        .can_mask = 0x1EFE0000 | CAN_EFF_FLAG,
+        .can_mask = 0x1FFE0000 | CAN_EFF_FLAG,
     };
 
     if (setsockopt(socketHandle, SOL_CAN_RAW, CAN_RAW_FILTER, &filter,
@@ -294,7 +192,7 @@ bool CanState::startUvLoop(unsigned bus, const nt::NetworkTableInstance& ntInst,
 }
 
 int main() {
-    printf("Starting KitCanDaemon\n");
+    printf("Starting PowerDistributionDaemon\n");
     printf("\tBuild Hash: %s\n", MRC_GetGitHash());
     printf("\tBuild Timestamp: %s\n", MRC_GetBuildTimestamp());
 
@@ -310,11 +208,7 @@ int main() {
 
     auto ntInst = nt::NetworkTableInstance::Create();
     ntInst.SetServer({"localhost"}, 6810);
-    ntInst.StartClient("KitCanDaemon");
-
-    nt::IntegerSubscriber requestSubscriber =
-        ntInst.GetIntegerTopic("/Netcomm/Reporting/RequestVersions")
-            .Subscribe(0);
+    ntInst.StartClient("PowerDistributionDaemon");
 
     wpi::EventLoopRunner loopRunner;
 
@@ -328,14 +222,6 @@ int main() {
         }
     });
 
-    NT_Listener requestListener =
-        ntInst.AddListener(requestSubscriber, NT_EVENT_VALUE_REMOTE,
-                           [&states, &loopRunner](const nt::Event& event) {
-                               for (size_t i = 0; i < states.size(); i++) {
-                                   states[i].sendVersions();
-                               }
-                           });
-
     if (!success) {
         loopRunner.Stop();
         return -1;
@@ -349,7 +235,6 @@ int main() {
         (void)getchar();
 #endif
     }
-    ntInst.RemoveListener(requestListener);
     ntInst.StopClient();
     nt::NetworkTableInstance::Destroy(ntInst);