ardupilot/libraries/AP_DDS/AP_DDS_Service_Table.h

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#include "uxr/client/client.h"
#include <AP_DDS/AP_DDS_config.h>
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enum class ServiceIndex: uint8_t {
#if AP_DDS_ARM_SERVER_ENABLED
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ARMING_MOTORS,
#endif // #if AP_DDS_ARM_SERVER_ENABLED
#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
MODE_SWITCH,
#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
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#if AP_DDS_ARM_CHECK_SERVER_ENABLED
PREARM_CHECK,
#endif // AP_DDS_ARM_CHECK_SERVER_ENABLED
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#if AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED
TAKEOFF,
#endif // AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED
#if AP_DDS_PARAMETER_SERVER_ENABLED
SET_PARAMETERS,
GET_PARAMETERS
#endif // AP_DDS_PARAMETER_SERVER_ENABLED
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};
static inline constexpr uint8_t to_underlying(const ServiceIndex index)
{
static_assert(sizeof(index) == sizeof(uint8_t));
return static_cast<uint8_t>(index);
}
constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
#if AP_DDS_ARM_SERVER_ENABLED
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{
.req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
.rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/arm_motorsService",
.request_type = "ardupilot_msgs::srv::dds_::ArmMotors_Request_",
.reply_type = "ardupilot_msgs::srv::dds_::ArmMotors_Response_",
.request_topic_name = "rq/ap/arm_motorsRequest",
.reply_topic_name = "rr/ap/arm_motorsReply",
.qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
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},
#endif // AP_DDS_ARM_SERVER_ENABLED
#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
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{
.req_id = to_underlying(ServiceIndex::MODE_SWITCH),
.rep_id = to_underlying(ServiceIndex::MODE_SWITCH),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/mode_switchService",
.request_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Request_",
.reply_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Response_",
.request_topic_name = "rq/ap/mode_switchRequest",
.reply_topic_name = "rr/ap/mode_switchReply",
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},
#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
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#if AP_DDS_ARM_CHECK_SERVER_ENABLED
{
.req_id = to_underlying(ServiceIndex::PREARM_CHECK),
.rep_id = to_underlying(ServiceIndex::PREARM_CHECK),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/prearm_checkService",
.request_type = "std_srvs::srv::dds_::Trigger_Request_",
.reply_type = "std_srvs::srv::dds_::Trigger_Response_",
.request_topic_name = "rq/ap/prearm_checkRequest",
.reply_topic_name = "rr/ap/prearm_checkReply",
},
#endif // AP_DDS_ARM_CHECK_SERVER_ENABLED
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#if AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED
{
.req_id = to_underlying(ServiceIndex::TAKEOFF),
.rep_id = to_underlying(ServiceIndex::TAKEOFF),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/experimental/takeoffService",
.request_type = "ardupilot_msgs::srv::dds_::Takeoff_Request_",
.reply_type = "ardupilot_msgs::srv::dds_::Takeoff_Response_",
.request_topic_name = "rq/ap/experimental/takeoffRequest",
.reply_topic_name = "rr/ap/experimental/takeoffReply",
},
#endif // AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED
#if AP_DDS_PARAMETER_SERVER_ENABLED
{
.req_id = to_underlying(ServiceIndex::SET_PARAMETERS),
.rep_id = to_underlying(ServiceIndex::SET_PARAMETERS),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/set_parametersService",
.request_type = "rcl_interfaces::srv::dds_::SetParameters_Request_",
.reply_type = "rcl_interfaces::srv::dds_::SetParameters_Response_",
.request_topic_name = "rq/ap/set_parametersRequest",
.reply_topic_name = "rr/ap/set_parametersReply",
},
{
.req_id = to_underlying(ServiceIndex::GET_PARAMETERS),
.rep_id = to_underlying(ServiceIndex::GET_PARAMETERS),
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/get_parameterService",
.request_type = "rcl_interfaces::srv::dds_::GetParameters_Request_",
.reply_type = "rcl_interfaces::srv::dds_::GetParameters_Response_",
.request_topic_name = "rq/ap/get_parametersRequest",
.reply_topic_name = "rr/ap/get_parametersReply",
},
#endif // AP_DDS_PARAMETER_SERVER_ENABLED
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};