ardupilot/libraries/AP_DDS/AP_DDS_Client.h

116 lines
3.4 KiB
C++

#pragma once
#if AP_DDS_ENABLED
#include "uxr/client/client.h"
#include "ucdr/microcdr.h"
#include "builtin_interfaces/msg/Time.h"
#include "AP_DDS_Generic_Fn_T.h"
#include "sensor_msgs/msg/NavSatFix.h"
#include "tf2_msgs/msg/TFMessage.h"
#include "sensor_msgs/msg/BatteryState.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Scheduler.h>
#include <AP_HAL/Semaphores.h>
#include <AP_AHRS/AP_AHRS.h>
#include "fcntl.h"
#include <AP_Param/AP_Param.h>
#define STREAM_HISTORY 8
#define BUFFER_SIZE_SERIAL UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY
extern const AP_HAL::HAL& hal;
class AP_DDS_Client
{
private:
// Serial Allocation
uxrSerialTransport serial_transport; // client uxr serial transport
uxrSession session; //Session
// Input Stream
uint8_t input_reliable_stream[BUFFER_SIZE_SERIAL];
uxrStreamId reliable_in;
// Output Stream
uint8_t output_reliable_stream[BUFFER_SIZE_SERIAL];
uxrStreamId reliable_out;
// Topic
builtin_interfaces_msg_Time time_topic;
sensor_msgs_msg_NavSatFix nav_sat_fix_topic;
tf2_msgs_msg_TFMessage static_transforms_topic;
sensor_msgs_msg_BatteryState battery_state_topic;
HAL_Semaphore csem;
// connection parametrics
bool connected = true;
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);
// 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;
public:
// Constructor
AP_DDS_Client();
void main_loop(void);
//! @brief Initialize the client's transport, uxr session, and IO stream(s)
//! @return True on successful initialization, false on failure
bool init() WARN_IF_UNUSED;
//! @brief Set up the client's participants, data read/writes,
// publishers, subscribers
//! @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 Update the internally stored DDS messages with latest data
void update();
//! @brief Parameter storage
static const struct AP_Param::GroupInfo var_info[];
//! @brief Convenience grouping for a single "channel" of data
struct Topic_table {
const uint8_t topic_id;
const uint8_t pub_id;
const uxrObjectId dw_id;
const char* topic_profile_label;
const char* dw_profile_label;
Generic_serialize_topic_fn_t serialize;
Generic_deserialize_topic_fn_t deserialize;
Generic_size_of_topic_fn_t size_of;
};
static const struct Topic_table topics[];
};
#endif // AP_DDS_ENABLED