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AP_Vehicle: Add DDS initialization and params to the vehicle if enabled 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Russ Webber <russ@rw.id.au>
This commit is contained in:
Ryan Friedman 2023-03-10 17:44:04 -07:00 committed by Andrew Tridgell
parent 0905ffa438
commit d361fec745
2 changed files with 31 additions and 0 deletions
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23
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -17,6 +17,7 @@
#include <AP_HAL_ChibiOS/sdcard.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#endif
#include <AP_DDS/AP_DDS_Client.h>
#define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
@ -124,6 +125,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(nmea, "NMEA_", 17, AP_Vehicle, AP_NMEA_Output),
#endif
#if AP_DDS_ENABLED
// @Group: XRCE
// @Path: ../AP_DDS/AP_DDS_Client.cpp
AP_SUBGROUPPTR(dds_client, "XRCE_", 18, AP_Vehicle, AP_DDS_Client),
#endif
AP_GROUPEND
};
@ -301,6 +308,12 @@ void AP_Vehicle::setup()
AP_Param::invalidate_count();
gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
#if AP_DDS_ENABLED
if (!init_dds_client()) {
gcs().send_text(MAV_SEVERITY_ERROR, "DDS Client: Failed to Initialize");
}
#endif
}
void AP_Vehicle::loop()
@ -817,6 +830,16 @@ void AP_Vehicle::check_motor_noise()
#endif
}
#if AP_DDS_ENABLED
bool AP_Vehicle::init_dds_client()
{
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_DDS_XRCE, 0)) {
dds_client = new AP_DDS_Client();
}
return dds_client != nullptr;
}
#endif // AP_DDS_ENABLED
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
AP_Vehicle *AP_Vehicle::get_singleton()

8
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -60,6 +60,8 @@
#include <AP_CheckFirmware/AP_CheckFirmware.h>
#include <Filter/LowPassFilter.h>
class AP_DDS_Client;
class AP_Vehicle : public AP_HAL::HAL::Callbacks {
public:
@ -393,6 +395,12 @@ protected:
SITL::SIM sitl;
#endif
#if AP_DDS_ENABLED
// Declare the dds client for communication with ROS2 and DDS(common for all vehicles)
AP_DDS_Client *dds_client;
bool init_dds_client() WARN_IF_UNUSED;
#endif
private:
// delay() callback that processing MAVLink packets