Sap, kittens.

I came to tell you about the UAVCAN project - a new network standard for organizing the interaction of nodes and components of modern vehicles with a high level of autonomy / automation. The name is an acronym for U ncomplicated A pplication-level V ehicular C ommunication A nd N etworking (uncomplicated on-board networks and application-level communications).

This publication explains the current state of affairs and trends in complex airborne systems, existing and future problems, how we are solving them and what successes have been achieved. In the second part, our colleagues from Innopolis University will highlight in detail the practical side of UAVCAN implementation using the example of specific projects.

Conjuncture

The first pancake of the project was laid in 2014. From the very beginning, it was an experiment in minimalism: is it possible to rely on powerful abstractions in the development of complex distributed airborne systems, while avoiding the increase in implementation complexity and the associated difficulties of validation and verification .

We are seeing a rapid increase in the complexity of on-board systems associated with the development of the functionality of vehicles (especially unmanned vehicles) in general, and automatic control systems in particular. " ", , ; , / , , , (, ), , , ..

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# Generic human-readable text message for logging and displaying purposes.
# Generally, it should be published at the lowest priority level.

uavcan.time.SynchronizedTimestamp.1.0 timestamp
# Optional timestamp in the network-synchronized time system; zero if undefined.
# The timestamp value conveys the exact moment when the reported event took place.

Severity.1.0 severity

uint8[<=112] text
# Message text.
# Normally, messages should be kept as short as possible, especially those of high severity.

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@assert _offset_.max <= (124 * 8)     # Two CAN FD frames max

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uint16 VALUE_HIGH = 2000
uint16 VALUE_MID = (VALUE_HIGH + VALUE_LOW) / 2
#    !

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(7.925)  vcan2  TX - -  1013373B   [8]  D2 04 0C 48 65 6C 6C A0   '...Hell.'
(7.925)  vcan2  TX - -  1013373B   [8]  6F 20 77 6F 72 6C 64 00   'o world.'
(7.925)  vcan2  TX - -  1013373B   [4]  21 F9 02 60               '!..`'

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