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AP_UAVCAN: add Callback API to link UAVCAN backend callbacks

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This commit is contained in:
Siddharth Purohit 2018-07-20 01:07:12 +05:30 committed by Francisco Ferreira
parent c79650a8d8
commit f01cc254d3
1 changed files with 42 additions and 0 deletions
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42
libraries/AP_UAVCAN/AP_UAVCAN.h
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@ -45,6 +45,18 @@
#define AP_UAVCAN_MAX_LED_DEVICES 4
/*
Frontend Backend-Registry Binder: Whenever a message of said DataType_ from new node is received,
the Callback will invoke registery to register the node as separate backend.
*/
#define UC_REGISTRY_BINDER(ClassName_, DataType_) \
class ClassName_ : public AP_UAVCAN::RegistryBinder<DataType_> { \
public: \
ClassName_() : RegistryBinder() {} \
ClassName_(AP_UAVCAN* uc, void (*ffunc)(AP_UAVCAN*, uint8_t, const ClassName_&)) : \
RegistryBinder(uc, (Registry)ffunc) {} \
}
class AP_UAVCAN : public AP_HAL::CANProtocol {
public:
AP_UAVCAN();
@ -57,6 +69,9 @@ public:
void init(uint8_t driver_index) override;
uavcan::Node<0>* get_node() { return _node; }
uint8_t get_driver_index() { return _driver_index; }
///// SRV output /////
void SRV_push_servos(void);
@ -133,6 +148,33 @@ public:
BatteryInfo_Info *find_bi_id(uint8_t id);
void update_bi_state(uint8_t id);
template <typename DataType_>
class RegistryBinder {
protected:
typedef void* (*Registry)(AP_UAVCAN* _ap_uavcan, uint8_t _node_id, const RegistryBinder& _cb);
AP_UAVCAN* _uc;
Registry _ffunc;
public:
RegistryBinder() :
_uc(),
_ffunc(),
msg() {}
RegistryBinder(AP_UAVCAN* uc, Registry ffunc) :
_uc(uc),
_ffunc(ffunc),
msg(nullptr) {}
void operator()(const uavcan::ReceivedDataStructure<DataType_>& _msg) {
msg = &_msg;
_ffunc(_uc, _msg.getSrcNodeID().get(), *this);
}
const uavcan::ReceivedDataStructure<DataType_> *msg;
};
private:
class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable {
public: