AP_UAVCAN: log all UAVCAN devices in CAND log message

libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp

@@ -27,6 +27,7 @@
 #include <AP_Math/AP_Math.h>
 #include <uavcan/protocol/dynamic_node_id/Allocation.hpp>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Logger/AP_Logger.h>
 #include "AP_UAVCAN_Clock.h"
 extern const AP_HAL::HAL& hal;
 
@@ -427,6 +428,12 @@ void AP_UAVCAN_DNA_Server::verify_nodes(AP_UAVCAN *ap_uavcan)
         return;
     }
 
+    uint8_t log_count = AP::logger().get_log_start_count();
+    if (log_count != last_logging_count) {
+        last_logging_count = log_count;
+        logged.clearall();
+    }
+    
     //Check if we got acknowledgement from previous request
     //except for requests using our own node_id
     for (uint8_t i = 0; i < HAL_MAX_CAN_PROTOCOL_DRIVERS; i++) {
@@ -502,12 +509,31 @@ Handle responses from GetNodeInfo Request. We verify the node info
 against our records. Marks Verification mask if already recorded,
 Or register if the node id is available and not recorded for the
 received Unique ID */
-void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[])
+void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[], uint8_t major, uint8_t minor, uint32_t vcs_commit)
 {
     if (node_id > MAX_NODE_ID) {
         return;
     }
     WITH_SEMAPHORE(sem);
+
+    /*
+      if we haven't logged this node then log it now
+     */
+    if (!logged.get(node_id) && AP::logger().logging_started()) {
+        logged.set(node_id);
+        uint64_t uid[2];
+        memcpy(uid, unique_id, sizeof(uid));
+        AP::logger().Write("CAND", "TimeUS,NodeId,UID1,UID2,Name,Major,Minor,Version",
+                           "s#------", "F-------", "QBQQZBBI",
+                           AP_HAL::micros64(),
+                           node_id,
+                           uid[0], uid[1],
+                           name,
+                           major,
+                           minor,
+                           vcs_commit);
+    }
+
     if (isNodeIDOccupied(node_id)) {
         //if node_id already registered, just verify if Unique ID matches as well
         if (node_id == getNodeIDForUniqueID(unique_id, 16)) {
@@ -544,16 +570,23 @@ void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[],
 void trampoline_handleNodeInfo(const uavcan::ServiceCallResult<uavcan::protocol::GetNodeInfo>& resp)
 {
     uint8_t node_id, unique_id[16] = {0};
-    char name[15] = {0};
+    char name[50] = {0};
 
     node_id = resp.getResponse().getSrcNodeID().get();
 
     //copy the unique id from message to uint8_t array
-    uavcan::copy(resp.getResponse().hardware_version.unique_id.begin(),
+    auto &r = resp.getResponse();
-                 resp.getResponse().hardware_version.unique_id.end(),
+    uavcan::copy(r.hardware_version.unique_id.begin(),
+                 r.hardware_version.unique_id.end(),
                  unique_id);
-    strncpy_noterm(name, resp.getResponse().name.c_str(), sizeof(name)-1);
+    strncpy_noterm(name, r.name.c_str(), sizeof(name)-1);
-    AP::uavcan_dna_server().handleNodeInfo(node_id, unique_id, name);
+
+    auto &dna_server = AP::uavcan_dna_server();
+
+    dna_server.handleNodeInfo(node_id, unique_id, name,
+                              r.software_version.major,
+                              r.software_version.minor,
+                              r.software_version.vcs_commit);
 }
 
 /* Handle the allocation message from the devices supporting

libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h

@@ -37,6 +37,9 @@ class AP_UAVCAN_DNA_Server
     Bitmask<128> occupation_mask;
     Bitmask<128> verified_mask;
     Bitmask<128> node_seen_mask;
+    Bitmask<128> logged;
+
+    uint8_t last_logging_count;
 
     //Error State
     enum ServerState server_state;
@@ -115,7 +118,7 @@ public:
     //Callbacks
     void handleAllocation(uint8_t driver_index, uint8_t node_id, const AllocationCb &cb);
     void handleNodeStatus(uint8_t node_id, const NodeStatusCb &cb);
-    void handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[]);
+    void handleNodeInfo(uint8_t node_id, uint8_t unique_id[], char name[], uint8_t major, uint8_t minor, uint32_t vcs_commit);
 
     //Run through the list of seen node ids for verification
     void verify_nodes(AP_UAVCAN *ap_uavcan);