mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
#pragma once
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#if AP_DDS_ENABLED
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#include "uxr/client/client.h"
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#include "ucdr/microcdr.h"
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#include "builtin_interfaces/msg/Time.h"
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#include "AP_DDS_Generic_Fn_T.h"
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#include "sensor_msgs/msg/NavSatFix.h"
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#include "tf2_msgs/msg/TFMessage.h"
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#include "sensor_msgs/msg/BatteryState.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Scheduler.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include "fcntl.h"
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#include <AP_Param/AP_Param.h>
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#define STREAM_HISTORY 8
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#define BUFFER_SIZE_SERIAL UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY
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extern const AP_HAL::HAL& hal;
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class AP_DDS_Client
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{
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private:
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// Serial Allocation
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uxrSerialTransport serial_transport; // client uxr serial transport
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uxrSession session; //Session
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// Input Stream
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uint8_t input_reliable_stream[BUFFER_SIZE_SERIAL];
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uxrStreamId reliable_in;
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// Output Stream
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uint8_t output_reliable_stream[BUFFER_SIZE_SERIAL];
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uxrStreamId reliable_out;
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// Topic
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builtin_interfaces_msg_Time time_topic;
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sensor_msgs_msg_NavSatFix nav_sat_fix_topic;
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tf2_msgs_msg_TFMessage static_transforms_topic;
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sensor_msgs_msg_BatteryState battery_state_topic;
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HAL_Semaphore csem;
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// connection parametrics
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bool connected = true;
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static void update_topic(builtin_interfaces_msg_Time& msg);
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bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED;
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static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg);
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static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance);
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// The last ms timestamp AP_DDS wrote a Time message
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uint64_t last_time_time_ms;
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// The last ms timestamp AP_DDS wrote a NavSatFix message
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uint64_t last_nav_sat_fix_time_ms;
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// The last ms timestamp AP_DDS wrote a BatteryState message
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uint64_t last_battery_state_time_ms;
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public:
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// Constructor
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AP_DDS_Client();
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void main_loop(void);
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//! @brief Initialize the client's transport, uxr session, and IO stream(s)
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//! @return True on successful initialization, false on failure
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bool init() WARN_IF_UNUSED;
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//! @brief Set up the client's participants, data read/writes,
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// publishers, subscribers
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//! @return True on successful creation, false on failure
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bool create() WARN_IF_UNUSED;
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//! @brief Serialize the current time state and publish to the IO stream(s)
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void write_time_topic();
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//! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s)
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void write_nav_sat_fix_topic();
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//! @brief Serialize the static transforms and publish to the IO stream(s)
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void write_static_transforms();
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//! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s)
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void write_battery_state_topic();
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//! @brief Update the internally stored DDS messages with latest data
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void update();
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//! @brief Parameter storage
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static const struct AP_Param::GroupInfo var_info[];
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//! @brief Convenience grouping for a single "channel" of data
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struct Topic_table {
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const uint8_t topic_id;
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const uint8_t pub_id;
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const uxrObjectId dw_id;
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const char* topic_profile_label;
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const char* dw_profile_label;
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Generic_serialize_topic_fn_t serialize;
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Generic_deserialize_topic_fn_t deserialize;
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Generic_size_of_topic_fn_t size_of;
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};
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static const struct Topic_table topics[];
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};
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#endif // AP_DDS_ENABLED
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