AP_DDS: arm through external control

* Prepare for external control enabled flag gating ability to arm in DDS

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -817,7 +817,13 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
         }
 
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for %sing received", msg_prefix, arm_motors_request.arm ? "arm" : "disarm");
-        arm_motors_response.result = arm_motors_request.arm ? AP::arming().arm(AP_Arming::Method::DDS) : AP::arming().disarm(AP_Arming::Method::DDS);
+#if AP_EXTERNAL_CONTROL_ENABLED
+        const bool do_checks = true;
+        arm_motors_response.result = arm_motors_request.arm ? AP_DDS_External_Control::arm(AP_Arming::Method::DDS, do_checks) : AP_DDS_External_Control::disarm(AP_Arming::Method::DDS, do_checks);
+        if (!arm_motors_response.result) {
+            // TODO #23430 handle arm failure through rosout, throttled.
+        }
+#endif // AP_EXTERNAL_CONTROL_ENABLED
 
         const uxrObjectId replier_id = {
             .id = services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id,

libraries/AP_DDS/AP_DDS_ExternalControl.cpp

@@ -85,6 +85,26 @@ bool AP_DDS_External_Control::handle_velocity_control(geometry_msgs_msg_TwistSta
     return false;
 }
 
+bool AP_DDS_External_Control::arm(AP_Arming::Method method, bool do_arming_checks)
+{
+    auto *external_control = AP::externalcontrol();
+    if (external_control == nullptr) {
+        return false;
+    }
+
+    return external_control->arm(method, do_arming_checks);
+}
+
+bool AP_DDS_External_Control::disarm(AP_Arming::Method method, bool do_disarm_checks)
+{
+    auto *external_control = AP::externalcontrol();
+    if (external_control == nullptr) {
+        return false;
+    }
+
+    return external_control->disarm(method, do_disarm_checks);
+}
+
 bool AP_DDS_External_Control::convert_alt_frame(const uint8_t frame_in,  Location::AltFrame& frame_out)
 {
 

libraries/AP_DDS/AP_DDS_ExternalControl.h

@@ -3,7 +3,7 @@
 #if AP_DDS_ENABLED
 #include "ardupilot_msgs/msg/GlobalPosition.h"
 #include "geometry_msgs/msg/TwistStamped.h"
-
+#include <AP_Arming/AP_Arming.h>
 #include <AP_Common/Location.h>
 
 class AP_DDS_External_Control
@@ -13,6 +13,9 @@ public:
     // https://ros.org/reps/rep-0147.html#goal-interface
     static bool handle_global_position_control(ardupilot_msgs_msg_GlobalPosition& cmd_pos);
     static bool handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel);
+    static bool arm(AP_Arming::Method method, bool do_arming_checks);
+    static bool disarm(AP_Arming::Method method, bool do_disarm_checks);
+
 private:
     static bool convert_alt_frame(const uint8_t frame_in,  Location::AltFrame& frame_out);
 };