mirror of https://github.com/ArduPilot/ardupilot
AP_DDS: Wrap all topics in ifdefs
* Give ability to enable/disable any topic in DDS through compile options Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman
Andrew Tridgell
parent
63663303de
commit
88c06e07d7
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@ -31,26 +31,45 @@
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// Enable DDS at runtime by default
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static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
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#if AP_DDS_TIME_PUB_ENABLED
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static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
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#endif // AP_DDS_TIME_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5;
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#endif // AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33;
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000;
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#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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static constexpr uint16_t DELAY_PING_MS = 500;
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// Define the subscriber data members, which are static class scope.
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// If these are created on the stack in the subscriber,
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// the AP_DDS_Client::on_topic frame size is exceeded.
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#if AP_DDS_JOY_SUB_ENABLED
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sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {};
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#endif // AP_DDS_JOY_SUB_ENABLED
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tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {};
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#if AP_DDS_VEL_CTRL_ENABLED
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geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {};
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#endif // AP_DDS_VEL_CTRL_ENABLED
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#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
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ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {};
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#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
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const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
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@ -127,6 +146,7 @@ AP_DDS_Client::~AP_DDS_Client()
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}
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}
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#if AP_DDS_TIME_PUB_ENABLED
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void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg)
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{
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uint64_t utc_usec;
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@ -137,7 +157,9 @@ void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg)
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msg.nanosec = (utc_usec % 1000000ULL) * 1000UL;
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}
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#endif // AP_DDS_TIME_PUB_ENABLED
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#if AP_DDS_NAVSATFIX_PUB_ENABLED
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bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance)
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{
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// Add a lambda that takes in navsatfix msg and populates the cov
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@ -224,7 +246,9 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i
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return true;
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}
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#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
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#if AP_DDS_STATIC_TF_PUB_ENABLED
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void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg)
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{
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msg.transforms_size = 0;
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@ -266,7 +290,9 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg)
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}
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}
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#endif // AP_DDS_STATIC_TF_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance)
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{
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if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) {
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@ -331,7 +357,9 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_
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}
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}
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}
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
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{
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update_topic(msg.header.stamp);
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@ -380,7 +408,9 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
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initialize(msg.pose.orientation);
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}
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}
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg)
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{
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update_topic(msg.header.stamp);
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@ -422,7 +452,9 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg)
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msg.twist.angular.y = -angular_velocity[1];
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msg.twist.angular.z = -angular_velocity[2];
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}
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
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{
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update_topic(msg.header.stamp);
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@ -461,6 +493,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
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initialize(msg.pose.orientation);
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}
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}
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
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@ -502,11 +535,14 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
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}
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#endif // AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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void AP_DDS_Client::update_topic(rosgraph_msgs_msg_Clock& msg)
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{
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update_topic(msg.clock);
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}
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg)
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{
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update_topic(msg.header.stamp);
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@ -524,6 +560,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg)
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msg.position.altitude = ekf_origin.alt * 0.01;
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}
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}
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#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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/*
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start the DDS thread
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@ -566,6 +603,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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(void) stream_id;
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(void) length;
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switch (object_id.id) {
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#if AP_DDS_JOY_SUB_ENABLED
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case topics[to_underlying(TopicIndex::JOY_SUB)].dr_id.id: {
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const bool success = sensor_msgs_msg_Joy_deserialize_topic(ub, &rx_joy_topic);
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@ -594,6 +632,8 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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}
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break;
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}
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#endif // AP_DDS_JOY_SUB_ENABLED
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#if AP_DDS_DYNAMIC_TF_SUB
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case topics[to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB)].dr_id.id: {
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const bool success = tf2_msgs_msg_TFMessage_deserialize_topic(ub, &rx_dynamic_transforms_topic);
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if (success == false) {
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@ -610,12 +650,13 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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}
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break;
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}
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#endif // AP_DDS_DYNAMIC_TF_SUB
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#if AP_DDS_VEL_CTRL_ENABLED
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case topics[to_underlying(TopicIndex::VELOCITY_CONTROL_SUB)].dr_id.id: {
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const bool success = geometry_msgs_msg_TwistStamped_deserialize_topic(ub, &rx_velocity_control_topic);
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if (success == false) {
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break;
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}
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#if AP_EXTERNAL_CONTROL_ENABLED
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if (!AP_DDS_External_Control::handle_velocity_control(rx_velocity_control_topic)) {
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// TODO #23430 handle velocity control failure through rosout, throttled.
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@ -623,6 +664,8 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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#endif // AP_EXTERNAL_CONTROL_ENABLED
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break;
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}
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#endif // AP_DDS_VEL_CTRL_ENABLED
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#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
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case topics[to_underlying(TopicIndex::GLOBAL_POSITION_SUB)].dr_id.id: {
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const bool success = ardupilot_msgs_msg_GlobalPosition_deserialize_topic(ub, &rx_global_position_control_topic);
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if (success == false) {
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@ -636,6 +679,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
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#endif // AP_EXTERNAL_CONTROL_ENABLED
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break;
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}
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#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
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}
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}
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@ -744,8 +788,10 @@ void AP_DDS_Client::main_loop(void)
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connected = true;
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Initialization passed", msg_prefix);
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#if AP_DDS_STATIC_TF_PUB_ENABLED
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populate_static_transforms(tx_static_transforms_topic);
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write_static_transforms();
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#endif // AP_DDS_STATIC_TF_PUB_ENABLED
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uint64_t last_ping_ms{0};
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uint8_t num_pings_missed{0};
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@ -998,6 +1044,7 @@ void AP_DDS_Client::write_time_topic()
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}
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}
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#if AP_DDS_NAVSATFIX_PUB_ENABLED
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void AP_DDS_Client::write_nav_sat_fix_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1012,7 +1059,9 @@ void AP_DDS_Client::write_nav_sat_fix_topic()
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}
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}
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}
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#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
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#if AP_DDS_STATIC_TF_PUB_ENABLED
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void AP_DDS_Client::write_static_transforms()
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{
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WITH_SEMAPHORE(csem);
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@ -1027,7 +1076,9 @@ void AP_DDS_Client::write_static_transforms()
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}
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}
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}
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#endif // AP_DDS_STATIC_TF_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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void AP_DDS_Client::write_battery_state_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1042,7 +1093,9 @@ void AP_DDS_Client::write_battery_state_topic()
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}
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}
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}
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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void AP_DDS_Client::write_local_pose_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1057,7 +1110,9 @@ void AP_DDS_Client::write_local_pose_topic()
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}
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}
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}
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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void AP_DDS_Client::write_tx_local_velocity_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1072,6 +1127,7 @@ void AP_DDS_Client::write_tx_local_velocity_topic()
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}
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}
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}
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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void AP_DDS_Client::write_imu_topic()
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@ -1090,6 +1146,7 @@ void AP_DDS_Client::write_imu_topic()
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}
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#endif // AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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void AP_DDS_Client::write_geo_pose_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1104,7 +1161,9 @@ void AP_DDS_Client::write_geo_pose_topic()
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}
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}
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}
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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void AP_DDS_Client::write_clock_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1119,7 +1178,9 @@ void AP_DDS_Client::write_clock_topic()
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}
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}
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}
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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void AP_DDS_Client::write_gps_global_origin_topic()
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{
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WITH_SEMAPHORE(csem);
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@ -1133,66 +1194,76 @@ void AP_DDS_Client::write_gps_global_origin_topic()
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}
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}
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}
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#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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void AP_DDS_Client::update()
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{
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WITH_SEMAPHORE(csem);
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const auto cur_time_ms = AP_HAL::millis64();
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#if AP_DDS_TIME_PUB_ENABLED
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if (cur_time_ms - last_time_time_ms > DELAY_TIME_TOPIC_MS) {
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update_topic(time_topic);
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last_time_time_ms = cur_time_ms;
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write_time_topic();
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}
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#endif // AP_DDS_TIME_PUB_ENABLED
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#if AP_DDS_NAVSATFIX_PUB_ENABLED
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constexpr uint8_t gps_instance = 0;
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if (update_topic(nav_sat_fix_topic, gps_instance)) {
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write_nav_sat_fix_topic();
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}
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#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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if (cur_time_ms - last_battery_state_time_ms > DELAY_BATTERY_STATE_TOPIC_MS) {
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constexpr uint8_t battery_instance = 0;
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update_topic(battery_state_topic, battery_instance);
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last_battery_state_time_ms = cur_time_ms;
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write_battery_state_topic();
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}
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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if (cur_time_ms - last_local_pose_time_ms > DELAY_LOCAL_POSE_TOPIC_MS) {
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update_topic(local_pose_topic);
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last_local_pose_time_ms = cur_time_ms;
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write_local_pose_topic();
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}
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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if (cur_time_ms - last_local_velocity_time_ms > DELAY_LOCAL_VELOCITY_TOPIC_MS) {
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update_topic(tx_local_velocity_topic);
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last_local_velocity_time_ms = cur_time_ms;
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write_tx_local_velocity_topic();
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}
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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if (cur_time_ms - last_imu_time_ms > DELAY_IMU_TOPIC_MS) {
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update_topic(imu_topic);
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last_imu_time_ms = cur_time_ms;
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write_imu_topic();
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}
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#endif
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#endif // AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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if (cur_time_ms - last_geo_pose_time_ms > DELAY_GEO_POSE_TOPIC_MS) {
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update_topic(geo_pose_topic);
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last_geo_pose_time_ms = cur_time_ms;
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write_geo_pose_topic();
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}
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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if (cur_time_ms - last_clock_time_ms > DELAY_CLOCK_TOPIC_MS) {
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update_topic(clock_topic);
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last_clock_time_ms = cur_time_ms;
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write_clock_topic();
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}
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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if (cur_time_ms - last_gps_global_origin_time_ms > DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS) {
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update_topic(gps_global_origin_topic);
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last_gps_global_origin_time_ms = cur_time_ms;
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write_gps_global_origin_topic();
|
||||
}
|
||||
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
|
||||
status_ok = uxr_run_session_time(&session, 1);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,21 +7,42 @@
|
|||
#include "uxr/client/client.h"
|
||||
#include "ucdr/microcdr.h"
|
||||
|
||||
#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
#include "ardupilot_msgs/msg/GlobalPosition.h"
|
||||
#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
#if AP_DDS_TIME_PUB_ENABLED
|
||||
#include "builtin_interfaces/msg/Time.h"
|
||||
|
||||
#endif // AP_DDS_TIME_PUB_ENABLED
|
||||
#if AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
#include "sensor_msgs/msg/NavSatFix.h"
|
||||
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
#if AP_DDS_NEEDS_TRANSFORMS
|
||||
#include "tf2_msgs/msg/TFMessage.h"
|
||||
#endif // AP_DDS_NEEDS_TRANSFORMS
|
||||
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
#include "sensor_msgs/msg/BatteryState.h"
|
||||
#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
#include "sensor_msgs/msg/Imu.h"
|
||||
#endif // AP_DDS_IMU_PUB_ENABLED
|
||||
#if AP_DDS_JOY_SUB_ENABLED
|
||||
#include "sensor_msgs/msg/Joy.h"
|
||||
#endif // AP_DDS_JOY_SUB_ENABLED
|
||||
#if AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
#include "geometry_msgs/msg/PoseStamped.h"
|
||||
#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
#if AP_DDS_NEEDS_TWIST
|
||||
#include "geometry_msgs/msg/TwistStamped.h"
|
||||
#endif // AP_DDS_NEEDS_TWIST
|
||||
#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
#include "geographic_msgs/msg/GeoPointStamped.h"
|
||||
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
#if AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
#include "geographic_msgs/msg/GeoPoseStamped.h"
|
||||
#endif // AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
#if AP_DDS_CLOCK_PUB_ENABLED
|
||||
#include "rosgraph_msgs/msg/Clock.h"
|
||||
#endif // AP_DDS_CLOCK_PUB_ENABLED
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <AP_HAL/Scheduler.h>
|
||||
|
|
@ -60,46 +81,119 @@ private:
|
|||
uxrStreamId reliable_out;
|
||||
|
||||
// Outgoing Sensor and AHRS data
|
||||
|
||||
#if AP_DDS_TIME_PUB_ENABLED
|
||||
builtin_interfaces_msg_Time time_topic;
|
||||
// The last ms timestamp AP_DDS wrote a Time message
|
||||
uint64_t last_time_time_ms;
|
||||
//! @brief Serialize the current time state and publish to the IO stream(s)
|
||||
void write_time_topic();
|
||||
static void update_topic(builtin_interfaces_msg_Time& msg);
|
||||
#endif // AP_DDS_TIME_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
geographic_msgs_msg_GeoPointStamped gps_global_origin_topic;
|
||||
// The last ms timestamp AP_DDS wrote a gps global origin message
|
||||
uint64_t last_gps_global_origin_time_ms;
|
||||
//! @brief Serialize the current gps global origin and publish to the IO stream(s)
|
||||
void write_gps_global_origin_topic();
|
||||
static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
|
||||
# endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
geographic_msgs_msg_GeoPoseStamped geo_pose_topic;
|
||||
// The last ms timestamp AP_DDS wrote a GeoPose message
|
||||
uint64_t last_geo_pose_time_ms;
|
||||
//! @brief Serialize the current geo_pose and publish to the IO stream(s)
|
||||
void write_geo_pose_topic();
|
||||
static void update_topic(geographic_msgs_msg_GeoPoseStamped& msg);
|
||||
#endif // AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
geometry_msgs_msg_PoseStamped local_pose_topic;
|
||||
// The last ms timestamp AP_DDS wrote a Local Pose message
|
||||
uint64_t last_local_pose_time_ms;
|
||||
//! @brief Serialize the current local_pose and publish to the IO stream(s)
|
||||
void write_local_pose_topic();
|
||||
static void update_topic(geometry_msgs_msg_PoseStamped& msg);
|
||||
#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
geometry_msgs_msg_TwistStamped tx_local_velocity_topic;
|
||||
// The last ms timestamp AP_DDS wrote a Local Velocity message
|
||||
uint64_t last_local_velocity_time_ms;
|
||||
//! @brief Serialize the current local velocity and publish to the IO stream(s)
|
||||
void write_tx_local_velocity_topic();
|
||||
static void update_topic(geometry_msgs_msg_TwistStamped& msg);
|
||||
#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
sensor_msgs_msg_BatteryState battery_state_topic;
|
||||
// The last ms timestamp AP_DDS wrote a BatteryState message
|
||||
uint64_t last_battery_state_time_ms;
|
||||
//! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s)
|
||||
void write_battery_state_topic();
|
||||
static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance);
|
||||
#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
sensor_msgs_msg_NavSatFix nav_sat_fix_topic;
|
||||
// The last ms timestamp AP_DDS wrote a NavSatFix message
|
||||
uint64_t last_nav_sat_fix_time_ms;
|
||||
//! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s)
|
||||
void write_nav_sat_fix_topic();
|
||||
bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED;
|
||||
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
sensor_msgs_msg_Imu imu_topic;
|
||||
// The last ms timestamp AP_DDS wrote an IMU message
|
||||
uint64_t last_imu_time_ms;
|
||||
static void update_topic(sensor_msgs_msg_Imu& msg);
|
||||
//! @brief Serialize the current IMU data and publish to the IO stream(s)
|
||||
void write_imu_topic();
|
||||
#endif // AP_DDS_IMU_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_CLOCK_PUB_ENABLED
|
||||
rosgraph_msgs_msg_Clock clock_topic;
|
||||
// incoming joystick data
|
||||
static sensor_msgs_msg_Joy rx_joy_topic;
|
||||
// incoming REP147 velocity control
|
||||
static geometry_msgs_msg_TwistStamped rx_velocity_control_topic;
|
||||
// incoming REP147 goal interface global position
|
||||
static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
|
||||
// The last ms timestamp AP_DDS wrote a Clock message
|
||||
uint64_t last_clock_time_ms;
|
||||
//! @brief Serialize the current clock and publish to the IO stream(s)
|
||||
void write_clock_topic();
|
||||
static void update_topic(rosgraph_msgs_msg_Clock& msg);
|
||||
#endif // AP_DDS_CLOCK_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
// outgoing transforms
|
||||
tf2_msgs_msg_TFMessage tx_static_transforms_topic;
|
||||
//! @brief Serialize the static transforms and publish to the IO stream(s)
|
||||
void write_static_transforms();
|
||||
static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg);
|
||||
#endif // AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
|
||||
#if AP_DDS_JOY_SUB_ENABLED
|
||||
// incoming joystick data
|
||||
static sensor_msgs_msg_Joy rx_joy_topic;
|
||||
#endif // AP_DDS_JOY_SUB_ENABLED
|
||||
#if AP_DDS_VEL_CTRL_ENABLED
|
||||
// incoming REP147 velocity control
|
||||
static geometry_msgs_msg_TwistStamped rx_velocity_control_topic;
|
||||
#endif // AP_DDS_VEL_CTRL_ENABLED
|
||||
#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
// incoming REP147 goal interface global position
|
||||
static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
|
||||
#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
#if AP_DDS_DYNAMIC_TF_SUB
|
||||
// incoming transforms
|
||||
static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic;
|
||||
|
||||
#endif // AP_DDS_DYNAMIC_TF_SUB
|
||||
HAL_Semaphore csem;
|
||||
|
||||
// connection parametrics
|
||||
bool status_ok{false};
|
||||
bool connected{false};
|
||||
|
||||
static void update_topic(builtin_interfaces_msg_Time& msg);
|
||||
bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED;
|
||||
static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg);
|
||||
static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance);
|
||||
static void update_topic(geometry_msgs_msg_PoseStamped& msg);
|
||||
static void update_topic(geometry_msgs_msg_TwistStamped& msg);
|
||||
static void update_topic(geographic_msgs_msg_GeoPoseStamped& msg);
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
static void update_topic(sensor_msgs_msg_Imu& msg);
|
||||
#endif // AP_DDS_IMU_PUB_ENABLED
|
||||
static void update_topic(rosgraph_msgs_msg_Clock& msg);
|
||||
static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
|
||||
|
||||
|
||||
// subscription callback function
|
||||
static void on_topic_trampoline(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length, void* args);
|
||||
|
|
@ -117,27 +211,6 @@ private:
|
|||
.min_pace_period = 0
|
||||
};
|
||||
|
||||
// The last ms timestamp AP_DDS wrote a Time message
|
||||
uint64_t last_time_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a NavSatFix message
|
||||
uint64_t last_nav_sat_fix_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a BatteryState message
|
||||
uint64_t last_battery_state_time_ms;
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
// The last ms timestamp AP_DDS wrote an IMU message
|
||||
uint64_t last_imu_time_ms;
|
||||
#endif // AP_DDS_IMU_PUB_ENABLED
|
||||
// The last ms timestamp AP_DDS wrote a Local Pose message
|
||||
uint64_t last_local_pose_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a Local Velocity message
|
||||
uint64_t last_local_velocity_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a GeoPose message
|
||||
uint64_t last_geo_pose_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a Clock message
|
||||
uint64_t last_clock_time_ms;
|
||||
// The last ms timestamp AP_DDS wrote a gps global origin message
|
||||
uint64_t last_gps_global_origin_time_ms;
|
||||
|
||||
// functions for serial transport
|
||||
bool ddsSerialInit();
|
||||
static bool serial_transport_open(uxrCustomTransport* args);
|
||||
|
|
@ -191,28 +264,6 @@ public:
|
|||
//! @return True on successful creation, false on failure
|
||||
bool create() WARN_IF_UNUSED;
|
||||
|
||||
//! @brief Serialize the current time state and publish to the IO stream(s)
|
||||
void write_time_topic();
|
||||
//! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s)
|
||||
void write_nav_sat_fix_topic();
|
||||
//! @brief Serialize the static transforms and publish to the IO stream(s)
|
||||
void write_static_transforms();
|
||||
//! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s)
|
||||
void write_battery_state_topic();
|
||||
//! @brief Serialize the current local_pose and publish to the IO stream(s)
|
||||
void write_local_pose_topic();
|
||||
//! @brief Serialize the current local velocity and publish to the IO stream(s)
|
||||
void write_tx_local_velocity_topic();
|
||||
//! @brief Serialize the current geo_pose and publish to the IO stream(s)
|
||||
void write_geo_pose_topic();
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
//! @brief Serialize the current IMU data and publish to the IO stream(s)
|
||||
void write_imu_topic();
|
||||
#endif // AP_DDS_IMU_PUB_ENABLED
|
||||
//! @brief Serialize the current clock and publish to the IO stream(s)
|
||||
void write_clock_topic();
|
||||
//! @brief Serialize the current gps global origin and publish to the IO stream(s)
|
||||
void write_gps_global_origin_topic();
|
||||
//! @brief Update the internally stored DDS messages with latest data
|
||||
void update();
|
||||
|
||||
|
|
|
|||
|
|
@ -14,22 +14,48 @@
|
|||
// Can use jinja to template (like Flask)
|
||||
|
||||
enum class TopicIndex: uint8_t {
|
||||
#if AP_DDS_TIME_PUB_ENABLED
|
||||
TIME_PUB,
|
||||
#endif // AP_DDS_TIME_PUB_ENABLED
|
||||
#if AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
NAV_SAT_FIX_PUB,
|
||||
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
#if AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
STATIC_TRANSFORMS_PUB,
|
||||
#endif // AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
BATTERY_STATE_PUB,
|
||||
#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
IMU_PUB,
|
||||
#endif //AP_DDS_IMU_PUB_ENABLED
|
||||
#if AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
LOCAL_POSE_PUB,
|
||||
#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
#if AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
LOCAL_VELOCITY_PUB,
|
||||
#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
#if AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
GEOPOSE_PUB,
|
||||
#endif // AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
#if AP_DDS_CLOCK_PUB_ENABLED
|
||||
CLOCK_PUB,
|
||||
#endif // AP_DDS_CLOCK_PUB_ENABLED
|
||||
#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
GPS_GLOBAL_ORIGIN_PUB,
|
||||
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
#if AP_DDS_JOY_SUB_ENABLED
|
||||
JOY_SUB,
|
||||
#endif // AP_DDS_JOY_SUB_ENABLED
|
||||
#if AP_DDS_DYNAMIC_TF_SUB
|
||||
DYNAMIC_TRANSFORMS_SUB,
|
||||
#endif // AP_DDS_DYNAMIC_TF_SUB
|
||||
#if AP_DDS_VEL_CTRL_ENABLED
|
||||
VELOCITY_CONTROL_SUB,
|
||||
#endif // AP_DDS_VEL_CTRL_ENABLED
|
||||
#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
GLOBAL_POSITION_SUB,
|
||||
#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
};
|
||||
|
||||
static inline constexpr uint8_t to_underlying(const TopicIndex index)
|
||||
|
|
@ -40,6 +66,7 @@ static inline constexpr uint8_t to_underlying(const TopicIndex index)
|
|||
|
||||
|
||||
constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
||||
#if AP_DDS_TIME_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::TIME_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::TIME_PUB),
|
||||
|
|
@ -56,6 +83,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 20,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_TIME_PUB_ENABLED
|
||||
#if AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
|
||||
|
|
@ -72,6 +101,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
#if AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
|
||||
|
|
@ -88,6 +119,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 1,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
|
||||
|
|
@ -104,6 +137,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
#if AP_DDS_IMU_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::IMU_PUB),
|
||||
|
|
@ -122,6 +156,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
},
|
||||
},
|
||||
#endif //AP_DDS_IMU_PUB_ENABLED
|
||||
#if AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
|
||||
|
|
@ -138,6 +173,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
#if AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
|
||||
|
|
@ -154,6 +191,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
#if AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
|
||||
|
|
@ -170,6 +209,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
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.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
#if AP_DDS_CLOCK_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::CLOCK_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::CLOCK_PUB),
|
||||
|
|
@ -186,6 +227,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 20,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_CLOCK_PUB_ENABLED
|
||||
#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
|
||||
.pub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
|
||||
|
|
@ -202,6 +245,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
#if AP_DDS_JOY_SUB_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::JOY_SUB),
|
||||
.pub_id = to_underlying(TopicIndex::JOY_SUB),
|
||||
|
|
@ -218,6 +263,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_JOY_SUB_ENABLED
|
||||
#if AP_DDS_DYNAMIC_TF_SUB
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
|
||||
.pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
|
||||
|
|
@ -234,6 +281,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_DYNAMIC_TF_SUB
|
||||
#if AP_DDS_VEL_CTRL_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
|
||||
.pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
|
||||
|
|
@ -250,6 +299,8 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_VEL_CTRL_ENABLED
|
||||
#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
{
|
||||
.topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
|
||||
.pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
|
||||
|
|
@ -266,4 +317,5 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
|
|||
.depth = 5,
|
||||
},
|
||||
},
|
||||
#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
};
|
||||
|
|
|
|||
|
|
@ -26,6 +26,64 @@
|
|||
#define AP_DDS_IMU_PUB_ENABLED AP_DDS_EXPERIMENTAL_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_TIME_PUB_ENABLED
|
||||
#define AP_DDS_TIME_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
|
||||
#define AP_DDS_NAVSATFIX_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
#define AP_DDS_STATIC_TF_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
|
||||
#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_GEOPOSE_PUB_ENABLED
|
||||
#define AP_DDS_GEOPOSE_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_LOCAL_POSE_PUB_ENABLED
|
||||
#define AP_DDS_LOCAL_POSE_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
#define AP_DDS_LOCAL_VEL_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_BATTERY_STATE_PUB_ENABLED
|
||||
#define AP_DDS_BATTERY_STATE_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_CLOCK_PUB_ENABLED
|
||||
#define AP_DDS_CLOCK_PUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_JOY_SUB_ENABLED
|
||||
#define AP_DDS_JOY_SUB_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_VEL_CTRL_ENABLED
|
||||
#define AP_DDS_VEL_CTRL_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_GLOBAL_POS_CTRL_ENABLED
|
||||
#define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_DDS_DYNAMIC_TF_SUB
|
||||
#define AP_DDS_DYNAMIC_TF_SUB 1
|
||||
#endif
|
||||
|
||||
// Whether to include Twist support
|
||||
#define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED
|
||||
|
||||
// Whether to include Transform support
|
||||
#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB || AP_DDS_STATIC_TF_PUB_ENABLED
|
||||
|
||||
#ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
||||
#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"
|
||||
|
|
|
|||
Loading…
Reference in New Issue