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ardupilot/libraries/AP_DDS/AP_DDS_Client.cpp

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#include <AP_HAL/AP_HAL_Boards.h>
#if AP_DDS_ENABLED
#include <uxr/client/util/ping.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_Math/AP_Math.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h>
#include "ardupilot_msgs/srv/ArmMotors.h"
#include "ardupilot_msgs/srv/ModeSwitch.h"
#if AP_EXTERNAL_CONTROL_ENABLED
#include "AP_DDS_ExternalControl.h"
#endif
#include "AP_DDS_Frames.h"
#include "AP_DDS_Client.h"
#include "AP_DDS_Topic_Table.h"
#include "AP_DDS_Service_Table.h"
#include "AP_DDS_External_Odom.h"
// Enable DDS at runtime by default
static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5;
static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33;
static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000;
static constexpr uint16_t DELAY_PING_MS = 500;
// Define the subscriber data members, which are static class scope.
// If these are created on the stack in the subscriber,
// the AP_DDS_Client::on_topic frame size is exceeded.
sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {};
tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {};
geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {};
ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {};
const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
// @Param: _ENABLE
// @DisplayName: DDS enable
// @Description: Enable DDS subsystem
// @Values: 0:Disabled,1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_DDS_Client, enabled, ENABLED_BY_DEFAULT, AP_PARAM_FLAG_ENABLE),
#if AP_DDS_UDP_ENABLED
// @Param: _UDP_PORT
// @DisplayName: DDS UDP port
// @Description: UDP port number for DDS
// @Range: 1 65535
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO("_UDP_PORT", 2, AP_DDS_Client, udp.port, 2019),
// @Group: _IP
// @Path: ../AP_Networking/AP_Networking_address.cpp
AP_SUBGROUPINFO(udp.ip, "_IP", 3, AP_DDS_Client, AP_Networking_IPV4),
#endif
AP_GROUPEND
};
static void initialize(geometry_msgs_msg_Quaternion& q)
{
q.x = 0.0;
q.y = 0.0;
q.z = 0.0;
q.w = 1.0;
}
AP_DDS_Client::~AP_DDS_Client()
{
// close transport
if (is_using_serial) {
uxr_close_custom_transport(&serial.transport);
} else {
#if AP_DDS_UDP_ENABLED
uxr_close_custom_transport(&udp.transport);
#endif
}
}
void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg)
{
uint64_t utc_usec;
if (!AP::rtc().get_utc_usec(utc_usec)) {
utc_usec = AP_HAL::micros64();
}
msg.sec = utc_usec / 1000000ULL;
msg.nanosec = (utc_usec % 1000000ULL) * 1000UL;
}
bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance)
{
// Add a lambda that takes in navsatfix msg and populates the cov
// Make it constexpr if possible
// https://www.fluentcpp.com/2021/12/13/the-evolutions-of-lambdas-in-c14-c17-and-c20/
// constexpr auto times2 = [] (sensor_msgs_msg_NavSatFix* msg) { return n * 2; };
// assert(instance >= GPS_MAX_RECEIVERS);
if (instance >= GPS_MAX_RECEIVERS) {
return false;
}
auto &gps = AP::gps();
WITH_SEMAPHORE(gps.get_semaphore());
if (!gps.is_healthy(instance)) {
msg.status.status = -1; // STATUS_NO_FIX
msg.status.service = 0; // No services supported
msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN
return false;
}
// No update is needed
const auto last_fix_time_ms = gps.last_fix_time_ms(instance);
if (last_nav_sat_fix_time_ms == last_fix_time_ms) {
return false;
} else {
last_nav_sat_fix_time_ms = last_fix_time_ms;
}
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, WGS_84_FRAME_ID);
msg.status.service = 0; // SERVICE_GPS
msg.status.status = -1; // STATUS_NO_FIX
//! @todo What about glonass, compass, galileo?
//! This will be properly designed and implemented to spec in #23277
msg.status.service = 1; // SERVICE_GPS
const auto status = gps.status(instance);
switch (status) {
case AP_GPS::NO_GPS:
case AP_GPS::NO_FIX:
msg.status.status = -1; // STATUS_NO_FIX
msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN
return true;
case AP_GPS::GPS_OK_FIX_2D:
case AP_GPS::GPS_OK_FIX_3D:
msg.status.status = 0; // STATUS_FIX
break;
case AP_GPS::GPS_OK_FIX_3D_DGPS:
msg.status.status = 1; // STATUS_SBAS_FIX
break;
case AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT:
case AP_GPS::GPS_OK_FIX_3D_RTK_FIXED:
msg.status.status = 2; // STATUS_SBAS_FIX
break;
default:
//! @todo Can we not just use an enum class and not worry about this condition?
break;
}
const auto loc = gps.location(instance);
msg.latitude = loc.lat * 1E-7;
msg.longitude = loc.lng * 1E-7;
int32_t alt_cm;
if (!loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt_cm)) {
// With absolute frame, this condition is unlikely
msg.status.status = -1; // STATUS_NO_FIX
msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN
return true;
}
msg.altitude = alt_cm * 0.01;
// ROS allows double precision, ArduPilot exposes float precision today
Matrix3f cov;
msg.position_covariance_type = (uint8_t)gps.position_covariance(instance, cov);
msg.position_covariance[0] = cov[0][0];
msg.position_covariance[1] = cov[0][1];
msg.position_covariance[2] = cov[0][2];
msg.position_covariance[3] = cov[1][0];
msg.position_covariance[4] = cov[1][1];
msg.position_covariance[5] = cov[1][2];
msg.position_covariance[6] = cov[2][0];
msg.position_covariance[7] = cov[2][1];
msg.position_covariance[8] = cov[2][2];
return true;
}
void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg)
{
msg.transforms_size = 0;
auto &gps = AP::gps();
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
const auto gps_type = gps.get_type(i);
if (gps_type == AP_GPS::GPS_Type::GPS_TYPE_NONE) {
continue;
}
update_topic(msg.transforms[i].header.stamp);
char gps_frame_id[16];
//! @todo should GPS frame ID's be 0 or 1 indexed in ROS?
hal.util->snprintf(gps_frame_id, sizeof(gps_frame_id), "GPS_%u", i);
strcpy(msg.transforms[i].header.frame_id, BASE_LINK_FRAME_ID);
strcpy(msg.transforms[i].child_frame_id, gps_frame_id);
// The body-frame offsets
// X - Forward
// Y - Right
// Z - Down
// https://ardupilot.org/copter/docs/common-sensor-offset-compensation.html#sensor-position-offset-compensation
const auto offset = gps.get_antenna_offset(i);
// In ROS REP 103, it follows this convention
// X - Forward
// Y - Left
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
msg.transforms[i].transform.translation.x = offset[0];
msg.transforms[i].transform.translation.y = -1 * offset[1];
msg.transforms[i].transform.translation.z = -1 * offset[2];
// Ensure rotation is initialized.
initialize(msg.transforms[i].transform.rotation);
msg.transforms_size++;
}
}
void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance)
{
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) {
return;
}
update_topic(msg.header.stamp);
auto &battery = AP::battery();
if (!battery.healthy(instance)) {
msg.power_supply_status = 3; //POWER_SUPPLY_HEALTH_DEAD
msg.present = false;
return;
}
msg.present = true;
msg.voltage = battery.voltage(instance);
float temperature;
msg.temperature = (battery.get_temperature(temperature, instance)) ? temperature : NAN;
float current;
msg.current = (battery.current_amps(current, instance)) ? -1 * current : NAN;
const float design_capacity = (float)battery.pack_capacity_mah(instance) * 0.001;
msg.design_capacity = design_capacity;
uint8_t percentage;
if (battery.capacity_remaining_pct(percentage, instance)) {
msg.percentage = percentage * 0.01;
msg.charge = (percentage * design_capacity) * 0.01;
} else {
msg.percentage = NAN;
msg.charge = NAN;
}
msg.capacity = NAN;
if (battery.current_amps(current, instance)) {
if (percentage == 100) {
msg.power_supply_status = 4; //POWER_SUPPLY_STATUS_FULL
} else if (current < 0.0) {
msg.power_supply_status = 1; //POWER_SUPPLY_STATUS_CHARGING
} else if (current > 0.0) {
msg.power_supply_status = 2; //POWER_SUPPLY_STATUS_DISCHARGING
} else {
msg.power_supply_status = 3; //POWER_SUPPLY_STATUS_NOT_CHARGING
}
} else {
msg.power_supply_status = 0; //POWER_SUPPLY_STATUS_UNKNOWN
}
msg.power_supply_health = (battery.overpower_detected(instance)) ? 4 : 1; //POWER_SUPPLY_HEALTH_OVERVOLTAGE or POWER_SUPPLY_HEALTH_GOOD
msg.power_supply_technology = 0; //POWER_SUPPLY_TECHNOLOGY_UNKNOWN
if (battery.has_cell_voltages(instance)) {
const auto &cells = battery.get_cell_voltages(instance);
const uint8_t ncells_max = MIN(ARRAY_SIZE(msg.cell_voltage), ARRAY_SIZE(cells.cells));
for (uint8_t i=0; i< ncells_max; i++) {
msg.cell_voltage[i] = cells.cells[i] * 0.001;
}
}
}
void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
{
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, BASE_LINK_FRAME_ID);
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
// ROS REP 103 uses the ENU convention:
// X - East
// Y - North
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// AP_AHRS uses the NED convention
// X - North
// Y - East
// Z - Down
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z
Vector3f position;
if (ahrs.get_relative_position_NED_home(position)) {
msg.pose.position.x = position[1];
msg.pose.position.y = position[0];
msg.pose.position.z = -position[2];
}
// In ROS REP 103, axis orientation uses the following convention:
// X - Forward
// Y - Left
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z (NED to ENU conversion) as well as a 90 degree rotation in the Z axis
// for x to point forward
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
Quaternion aux(orientation[0], orientation[2], orientation[1], -orientation[3]); //NED to ENU transformation
Quaternion transformation (sqrtF(2) * 0.5,0,0,sqrtF(2) * 0.5); // Z axis 90 degree rotation
orientation = aux * transformation;
msg.pose.orientation.w = orientation[0];
msg.pose.orientation.x = orientation[1];
msg.pose.orientation.y = orientation[2];
msg.pose.orientation.z = orientation[3];
} else {
initialize(msg.pose.orientation);
}
}
void AP_DDS_Client::update_topic(geometry_msgs_msg_TwistStamped& msg)
{
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, BASE_LINK_FRAME_ID);
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
// ROS REP 103 uses the ENU convention:
// X - East
// Y - North
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// AP_AHRS uses the NED convention
// X - North
// Y - East
// Z - Down
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z
Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
msg.twist.linear.x = velocity[1];
msg.twist.linear.y = velocity[0];
msg.twist.linear.z = -velocity[2];
}
// In ROS REP 103, axis orientation uses the following convention:
// X - Forward
// Y - Left
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// The gyro data is received from AP_AHRS in body-frame
// X - Forward
// Y - Right
// Z - Down
// As a consequence, to follow ROS REP 103, it is necessary to invert Y and Z
Vector3f angular_velocity = ahrs.get_gyro();
msg.twist.angular.x = angular_velocity[0];
msg.twist.angular.y = -angular_velocity[1];
msg.twist.angular.z = -angular_velocity[2];
}
void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
{
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, BASE_LINK_FRAME_ID);
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
Location loc;
if (ahrs.get_location(loc)) {
msg.pose.position.latitude = loc.lat * 1E-7;
msg.pose.position.longitude = loc.lng * 1E-7;
// TODO this is assumed to be absolute frame in WGS-84 as per the GeoPose message definition in ROS.
// Use loc.get_alt_frame() to convert if necessary.
msg.pose.position.altitude = loc.alt * 0.01; // Transform from cm to m
}
// In ROS REP 103, axis orientation uses the following convention:
// X - Forward
// Y - Left
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z (NED to ENU conversion) as well as a 90 degree rotation in the Z axis
// for x to point forward
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
Quaternion aux(orientation[0], orientation[2], orientation[1], -orientation[3]); //NED to ENU transformation
Quaternion transformation(sqrtF(2) * 0.5, 0, 0, sqrtF(2) * 0.5); // Z axis 90 degree rotation
orientation = aux * transformation;
msg.pose.orientation.w = orientation[0];
msg.pose.orientation.x = orientation[1];
msg.pose.orientation.y = orientation[2];
msg.pose.orientation.z = orientation[3];
} else {
initialize(msg.pose.orientation);
}
}
void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
{
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, BASE_LINK_NED_FRAME_ID);
auto &imu = AP::ins();
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
msg.orientation.x = orientation[0];
msg.orientation.y = orientation[1];
msg.orientation.z = orientation[2];
msg.orientation.w = orientation[3];
} else {
initialize(msg.orientation);
}
msg.orientation_covariance[0] = -1;
uint8_t accel_index = ahrs.get_primary_accel_index();
uint8_t gyro_index = ahrs.get_primary_gyro_index();
const Vector3f accel_data = imu.get_accel(accel_index);
const Vector3f gyro_data = imu.get_gyro(gyro_index);
// Populate the message fields
msg.linear_acceleration.x = accel_data.x;
msg.linear_acceleration.y = accel_data.y;
msg.linear_acceleration.z = accel_data.z;
msg.angular_velocity.x = gyro_data.x;
msg.angular_velocity.y = gyro_data.y;
msg.angular_velocity.z = gyro_data.z;
msg.angular_velocity_covariance[0] = -1;
msg.linear_acceleration_covariance[0] = -1;
}
void AP_DDS_Client::update_topic(rosgraph_msgs_msg_Clock& msg)
{
update_topic(msg.clock);
}
void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPointStamped& msg)
{
update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, BASE_LINK_FRAME_ID);
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
Location ekf_origin;
// LLA is WGS-84 geodetic coordinate.
// Altitude converted from cm to m.
if (ahrs.get_origin(ekf_origin)) {
msg.position.latitude = ekf_origin.lat * 1E-7;
msg.position.longitude = ekf_origin.lng * 1E-7;
msg.position.altitude = ekf_origin.alt * 0.01;
}
}
/*
start the DDS thread
*/
bool AP_DDS_Client::start(void)
{
AP_Param::setup_object_defaults(this, var_info);
AP_Param::load_object_from_eeprom(this, var_info);
if (enabled == 0) {
return true;
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_DDS_Client::main_loop, void),
"DDS",
8192, AP_HAL::Scheduler::PRIORITY_IO, 1)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Thread create failed", msg_prefix);
return false;
}
return true;
}
// read function triggered at every subscription callback
void AP_DDS_Client::on_topic_trampoline(uxrSession* uxr_session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length,
void* args)
{
AP_DDS_Client *dds = (AP_DDS_Client *)args;
dds->on_topic(uxr_session, object_id, request_id, stream_id, ub, length);
}
void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length)
{
/*
TEMPLATE for reading to the subscribed topics
1) Store the read contents into the ucdr buffer
2) Deserialize the said contents into the topic instance
*/
(void) uxr_session;
(void) request_id;
(void) stream_id;
(void) length;
switch (object_id.id) {
case topics[to_underlying(TopicIndex::JOY_SUB)].dr_id.id: {
const bool success = sensor_msgs_msg_Joy_deserialize_topic(ub, &rx_joy_topic);
if (success == false) {
break;
}
if (rx_joy_topic.axes_size >= 4) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy: %f, %f, %f, %f",
msg_prefix, rx_joy_topic.axes[0], rx_joy_topic.axes[1], rx_joy_topic.axes[2], rx_joy_topic.axes[3]);
// TODO implement joystick RC control to AP
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy. Axes size must be >= 4", msg_prefix);
}
break;
}
case topics[to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB)].dr_id.id: {
const bool success = tf2_msgs_msg_TFMessage_deserialize_topic(ub, &rx_dynamic_transforms_topic);
if (success == false) {
break;
}
if (rx_dynamic_transforms_topic.transforms_size > 0) {
#if AP_DDS_VISUALODOM_ENABLED
AP_DDS_External_Odom::handle_external_odom(rx_dynamic_transforms_topic);
#endif // AP_DDS_VISUALODOM_ENABLED
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received tf2_msgs/TFMessage: TF is empty", msg_prefix);
}
break;
}
case topics[to_underlying(TopicIndex::VELOCITY_CONTROL_SUB)].dr_id.id: {
const bool success = geometry_msgs_msg_TwistStamped_deserialize_topic(ub, &rx_velocity_control_topic);
if (success == false) {
break;
}
#if AP_EXTERNAL_CONTROL_ENABLED
if (!AP_DDS_External_Control::handle_velocity_control(rx_velocity_control_topic)) {
// TODO #23430 handle velocity control failure through rosout, throttled.
}
#endif // AP_EXTERNAL_CONTROL_ENABLED
break;
}
case topics[to_underlying(TopicIndex::GLOBAL_POSITION_SUB)].dr_id.id: {
const bool success = ardupilot_msgs_msg_GlobalPosition_deserialize_topic(ub, &rx_global_position_control_topic);
if (success == false) {
break;
}
#if AP_EXTERNAL_CONTROL_ENABLED
if (!AP_DDS_External_Control::handle_global_position_control(rx_global_position_control_topic)) {
// TODO #23430 handle global position control failure through rosout, throttled.
}
#endif // AP_EXTERNAL_CONTROL_ENABLED
break;
}
}
}
/*
callback on request completion
*/
void AP_DDS_Client::on_request_trampoline(uxrSession* uxr_session, uxrObjectId object_id, uint16_t request_id, SampleIdentity* sample_id, ucdrBuffer* ub, uint16_t length, void* args)
{
AP_DDS_Client *dds = (AP_DDS_Client *)args;
dds->on_request(uxr_session, object_id, request_id, sample_id, ub, length);
}
void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, uint16_t request_id, SampleIdentity* sample_id, ucdrBuffer* ub, uint16_t length)
{
(void) request_id;
(void) length;
switch (object_id.id) {
case services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id: {
ardupilot_msgs_srv_ArmMotors_Request arm_motors_request;
ardupilot_msgs_srv_ArmMotors_Response arm_motors_response;
const bool deserialize_success = ardupilot_msgs_srv_ArmMotors_Request_deserialize_topic(ub, &arm_motors_request);
if (deserialize_success == false) {
break;
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for %sing received", msg_prefix, arm_motors_request.arm ? "arm" : "disarm");
arm_motors_response.result = arm_motors_request.arm ? AP::arming().arm(AP_Arming::Method::DDS) : AP::arming().disarm(AP_Arming::Method::DDS);
const uxrObjectId replier_id = {
.id = services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id,
.type = UXR_REPLIER_ID
};
uint8_t reply_buffer[8] {};
ucdrBuffer reply_ub;
ucdr_init_buffer(&reply_ub, reply_buffer, sizeof(reply_buffer));
const bool serialize_success = ardupilot_msgs_srv_ArmMotors_Response_serialize_topic(&reply_ub, &arm_motors_response);
if (serialize_success == false) {
break;
}
uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : %s", msg_prefix, arm_motors_response.result ? "SUCCESS" : "FAIL");
break;
}
case services[to_underlying(ServiceIndex::MODE_SWITCH)].rep_id: {
ardupilot_msgs_srv_ModeSwitch_Request mode_switch_request;
ardupilot_msgs_srv_ModeSwitch_Response mode_switch_response;
const bool deserialize_success = ardupilot_msgs_srv_ModeSwitch_Request_deserialize_topic(ub, &mode_switch_request);
if (deserialize_success == false) {
break;
}
mode_switch_response.status = AP::vehicle()->set_mode(mode_switch_request.mode, ModeReason::DDS_COMMAND);
mode_switch_response.curr_mode = AP::vehicle()->get_mode();
const uxrObjectId replier_id = {
.id = services[to_underlying(ServiceIndex::MODE_SWITCH)].rep_id,
.type = UXR_REPLIER_ID
};
uint8_t reply_buffer[8] {};
ucdrBuffer reply_ub;
ucdr_init_buffer(&reply_ub, reply_buffer, sizeof(reply_buffer));
const bool serialize_success = ardupilot_msgs_srv_ModeSwitch_Response_serialize_topic(&reply_ub, &mode_switch_response);
if (serialize_success == false) {
break;
}
uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : %s", msg_prefix, mode_switch_response.status ? "SUCCESS" : "FAIL");
break;
}
}
}
/*
main loop for DDS thread
*/
void AP_DDS_Client::main_loop(void)
{
if (!init_transport()) {
return;
}
//! @todo check for request to stop task
while (true) {
if (comm == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s transport invalid, exiting", msg_prefix);
return;
}
// check ping
const uint64_t ping_timeout_ms{1000};
const uint8_t ping_max_attempts{10};
if (!uxr_ping_agent_attempts(comm, ping_timeout_ms, ping_max_attempts)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s No ping response, exiting", msg_prefix);
return;
}
// create session
if (!init_session() || !create()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Creation Requests failed", msg_prefix);
return;
}
connected = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Initialization passed", msg_prefix);
populate_static_transforms(tx_static_transforms_topic);
write_static_transforms();
uint64_t last_ping_ms{0};
uint8_t num_pings_missed{0};
bool had_ping_reply{false};
while (connected) {
hal.scheduler->delay(1);
// publish topics
update();
// check ping response
if (session.on_pong_flag == PONG_IN_SESSION_STATUS) {
had_ping_reply = true;
}
const auto cur_time_ms = AP_HAL::millis64();
if (cur_time_ms - last_ping_ms > DELAY_PING_MS) {
last_ping_ms = cur_time_ms;
if (had_ping_reply) {
num_pings_missed = 0;
} else {
++num_pings_missed;
}
const int ping_agent_timeout_ms{0};
const uint8_t ping_agent_attempts{1};
uxr_ping_agent_session(&session, ping_agent_timeout_ms, ping_agent_attempts);
had_ping_reply = false;
}
if (num_pings_missed > 2) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,
"%s No ping response, disconnecting", msg_prefix);
connected = false;
}
}
// delete session if connected
if (connected) {
uxr_delete_session(&session);
}
}
}
bool AP_DDS_Client::init_transport()
{
// serial init will fail if the SERIALn_PROTOCOL is not setup
bool initTransportStatus = ddsSerialInit();
is_using_serial = initTransportStatus;
#if AP_DDS_UDP_ENABLED
// fallback to UDP if available
if (!initTransportStatus) {
initTransportStatus = ddsUdpInit();
}
#endif
if (!initTransportStatus) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Transport initialization failed", msg_prefix);
return false;
}
return true;
}
bool AP_DDS_Client::init_session()
{
// init session
uxr_init_session(&session, comm, key);
// Register topic callbacks
uxr_set_topic_callback(&session, AP_DDS_Client::on_topic_trampoline, this);
// ROS-2 Service : Register service request callbacks
uxr_set_request_callback(&session, AP_DDS_Client::on_request_trampoline, this);
while (!uxr_create_session(&session)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Initialization waiting...", msg_prefix);
hal.scheduler->delay(1000);
}
// setup reliable stream buffers
input_reliable_stream = NEW_NOTHROW uint8_t[DDS_BUFFER_SIZE];
output_reliable_stream = NEW_NOTHROW uint8_t[DDS_BUFFER_SIZE];
if (input_reliable_stream == nullptr || output_reliable_stream == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Allocation failed", msg_prefix);
return false;
}
reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream, DDS_BUFFER_SIZE, DDS_STREAM_HISTORY);
reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream, DDS_BUFFER_SIZE, DDS_STREAM_HISTORY);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Init complete", msg_prefix);
return true;
}
bool AP_DDS_Client::create()
{
WITH_SEMAPHORE(csem);
// Participant
const uxrObjectId participant_id = {
.id = 0x01,
.type = UXR_PARTICIPANT_ID
};
const char* participant_name = "ardupilot_dds";
const uint16_t domain_id = 0;
const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
domain_id, participant_name, UXR_REPLACE);
//Participant requests
constexpr uint8_t nRequestsParticipant = 1;
const uint16_t requestsParticipant[nRequestsParticipant] = {participant_req_id};
constexpr uint16_t maxTimeMsPerRequestMs = 500;
constexpr uint16_t requestTimeoutParticipantMs = (uint16_t) nRequestsParticipant * maxTimeMsPerRequestMs;
uint8_t statusParticipant[nRequestsParticipant];
if (!uxr_run_session_until_all_status(&session, requestTimeoutParticipantMs, requestsParticipant, statusParticipant, nRequestsParticipant)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Participant session request failure", msg_prefix);
// TODO add a failure log message sharing the status results
return false;
}
for (uint16_t i = 0 ; i < ARRAY_SIZE(topics); i++) {
// Topic
const uxrObjectId topic_id = {
.id = topics[i].topic_id,
.type = UXR_TOPIC_ID
};
const auto topic_req_id = uxr_buffer_create_topic_bin(&session, reliable_out, topic_id,
participant_id, topics[i].topic_name, topics[i].type_name, UXR_REPLACE);
// Status requests
constexpr uint8_t nRequests = 3;
uint16_t requests[nRequests];
constexpr uint16_t requestTimeoutMs = nRequests * maxTimeMsPerRequestMs;
uint8_t status[nRequests];
if (topics[i].topic_rw == Topic_rw::DataWriter) {
// Publisher
const uxrObjectId pub_id = {
.id = topics[i].pub_id,
.type = UXR_PUBLISHER_ID
};
const auto pub_req_id = uxr_buffer_create_publisher_bin(&session, reliable_out, pub_id,
participant_id, UXR_REPLACE);
// Data Writer
const auto dwriter_req_id = uxr_buffer_create_datawriter_bin(&session, reliable_out, topics[i].dw_id,
pub_id, topic_id, topics[i].qos, UXR_REPLACE);
// save the request statuses
requests[0] = topic_req_id;
requests[1] = pub_req_id;
requests[2] = dwriter_req_id;
if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, requests, status, nRequests)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Topic/Pub/Writer session request failure for index '%u'", msg_prefix, i);
for (uint8_t s = 0 ; s < nRequests; s++) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status '%d' result '%u'", msg_prefix, s, status[s]);
}
// TODO add a failure log message sharing the status results
return false;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Topic/Pub/Writer session pass for index '%u'", msg_prefix, i);
}
} else if (topics[i].topic_rw == Topic_rw::DataReader) {
// Subscriber
const uxrObjectId sub_id = {
.id = topics[i].sub_id,
.type = UXR_SUBSCRIBER_ID
};
const auto sub_req_id = uxr_buffer_create_subscriber_bin(&session, reliable_out, sub_id,
participant_id, UXR_REPLACE);
// Data Reader
const auto dreader_req_id = uxr_buffer_create_datareader_bin(&session, reliable_out, topics[i].dr_id,
sub_id, topic_id, topics[i].qos, UXR_REPLACE);
// save the request statuses
requests[0] = topic_req_id;
requests[1] = sub_req_id;
requests[2] = dreader_req_id;
if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, requests, status, nRequests)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Topic/Sub/Reader session request failure for index '%u'", msg_prefix, i);
for (uint8_t s = 0 ; s < nRequests; s++) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status '%d' result '%u'", msg_prefix, s, status[s]);
}
// TODO add a failure log message sharing the status results
return false;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Topic/Sub/Reader session pass for index '%u'", msg_prefix, i);
uxr_buffer_request_data(&session, reliable_out, topics[i].dr_id, reliable_in, &delivery_control);
}
}
}
// ROS-2 Service : else case for service requests
for (uint16_t i = 0; i < ARRAY_SIZE(services); i++) {
constexpr uint16_t requestTimeoutMs = maxTimeMsPerRequestMs;
if (services[i].service_rr == Service_rr::Replier) {
const uxrObjectId rep_id = {
.id = services[i].rep_id,
.type = UXR_REPLIER_ID
};
const auto replier_req_id = uxr_buffer_create_replier_bin(&session, reliable_out, rep_id,
participant_id, services[i].service_name, services[i].request_type, services[i].reply_type,
services[i].request_topic_name, services[i].reply_topic_name, services[i].qos, UXR_REPLACE);
uint16_t request = replier_req_id;
uint8_t status;
if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, &request, &status, 1)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Service/Replier session request failure for index '%u'", msg_prefix, i);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Status result '%u'", msg_prefix, status);
// TODO add a failure log message sharing the status results
return false;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Service/Replier session pass for index '%u'", msg_prefix, i);
uxr_buffer_request_data(&session, reliable_out, rep_id, reliable_in, &delivery_control);
}
} else if (services[i].service_rr == Service_rr::Requester) {
// TODO : Add Similar Code for Requester Profile
}
}
return true;
}
void AP_DDS_Client::write_time_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = builtin_interfaces_msg_Time_size_of_topic(&time_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::TIME_PUB)].dw_id, &ub, topic_size);
const bool success = builtin_interfaces_msg_Time_serialize_topic(&ub, &time_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: XRCE_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_nav_sat_fix_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = sensor_msgs_msg_NavSatFix_size_of_topic(&nav_sat_fix_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::NAV_SAT_FIX_PUB)].dw_id, &ub, topic_size);
const bool success = sensor_msgs_msg_NavSatFix_serialize_topic(&ub, &nav_sat_fix_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_static_transforms()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = tf2_msgs_msg_TFMessage_size_of_topic(&tx_static_transforms_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB)].dw_id, &ub, topic_size);
const bool success = tf2_msgs_msg_TFMessage_serialize_topic(&ub, &tx_static_transforms_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_battery_state_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = sensor_msgs_msg_BatteryState_size_of_topic(&battery_state_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::BATTERY_STATE_PUB)].dw_id, &ub, topic_size);
const bool success = sensor_msgs_msg_BatteryState_serialize_topic(&ub, &battery_state_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_local_pose_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = geometry_msgs_msg_PoseStamped_size_of_topic(&local_pose_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::LOCAL_POSE_PUB)].dw_id, &ub, topic_size);
const bool success = geometry_msgs_msg_PoseStamped_serialize_topic(&ub, &local_pose_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_tx_local_velocity_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = geometry_msgs_msg_TwistStamped_size_of_topic(&tx_local_velocity_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::LOCAL_VELOCITY_PUB)].dw_id, &ub, topic_size);
const bool success = geometry_msgs_msg_TwistStamped_serialize_topic(&ub, &tx_local_velocity_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_imu_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = sensor_msgs_msg_Imu_size_of_topic(&imu_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::IMU_PUB)].dw_id, &ub, topic_size);
const bool success = sensor_msgs_msg_Imu_serialize_topic(&ub, &imu_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_geo_pose_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = geographic_msgs_msg_GeoPoseStamped_size_of_topic(&geo_pose_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GEOPOSE_PUB)].dw_id, &ub, topic_size);
const bool success = geographic_msgs_msg_GeoPoseStamped_serialize_topic(&ub, &geo_pose_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_clock_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = rosgraph_msgs_msg_Clock_size_of_topic(&clock_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::CLOCK_PUB)].dw_id, &ub, topic_size);
const bool success = rosgraph_msgs_msg_Clock_serialize_topic(&ub, &clock_topic);
if (!success) {
// TODO sometimes serialization fails on bootup. Determine why.
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::write_gps_global_origin_topic()
{
WITH_SEMAPHORE(csem);
if (connected) {
ucdrBuffer ub {};
const uint32_t topic_size = geographic_msgs_msg_GeoPointStamped_size_of_topic(&gps_global_origin_topic, 0);
uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB)].dw_id, &ub, topic_size);
const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &gps_global_origin_topic);
if (!success) {
// AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
}
}
}
void AP_DDS_Client::update()
{
WITH_SEMAPHORE(csem);
const auto cur_time_ms = AP_HAL::millis64();
if (cur_time_ms - last_time_time_ms > DELAY_TIME_TOPIC_MS) {
update_topic(time_topic);
last_time_time_ms = cur_time_ms;
write_time_topic();
}
constexpr uint8_t gps_instance = 0;
if (update_topic(nav_sat_fix_topic, gps_instance)) {
write_nav_sat_fix_topic();
}
if (cur_time_ms - last_battery_state_time_ms > DELAY_BATTERY_STATE_TOPIC_MS) {
constexpr uint8_t battery_instance = 0;
update_topic(battery_state_topic, battery_instance);
last_battery_state_time_ms = cur_time_ms;
write_battery_state_topic();
}
if (cur_time_ms - last_local_pose_time_ms > DELAY_LOCAL_POSE_TOPIC_MS) {
update_topic(local_pose_topic);
last_local_pose_time_ms = cur_time_ms;
write_local_pose_topic();
}
if (cur_time_ms - last_local_velocity_time_ms > DELAY_LOCAL_VELOCITY_TOPIC_MS) {
update_topic(tx_local_velocity_topic);
last_local_velocity_time_ms = cur_time_ms;
write_tx_local_velocity_topic();
}
if (cur_time_ms - last_imu_time_ms > DELAY_IMU_TOPIC_MS) {
update_topic(imu_topic);
last_imu_time_ms = cur_time_ms;
write_imu_topic();
}
if (cur_time_ms - last_geo_pose_time_ms > DELAY_GEO_POSE_TOPIC_MS) {
update_topic(geo_pose_topic);
last_geo_pose_time_ms = cur_time_ms;
write_geo_pose_topic();
}
if (cur_time_ms - last_clock_time_ms > DELAY_CLOCK_TOPIC_MS) {
update_topic(clock_topic);
last_clock_time_ms = cur_time_ms;
write_clock_topic();
}
if (cur_time_ms - last_gps_global_origin_time_ms > DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS) {
update_topic(gps_global_origin_topic);
last_gps_global_origin_time_ms = cur_time_ms;
write_gps_global_origin_topic();
}
status_ok = uxr_run_session_time(&session, 1);
}
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
extern "C" {
int clock_gettime(clockid_t clockid, struct timespec *ts);
}
int clock_gettime(clockid_t clockid, struct timespec *ts)
{
//! @todo the value of clockid is ignored here.
//! A fallback mechanism is employed against the caller's choice of clock.
uint64_t utc_usec;
if (!AP::rtc().get_utc_usec(utc_usec)) {
utc_usec = AP_HAL::micros64();
}
ts->tv_sec = utc_usec / 1000000ULL;
ts->tv_nsec = (utc_usec % 1000000ULL) * 1000UL;
return 0;
}
#endif // CONFIG_HAL_BOARD != HAL_BOARD_SITL
#endif // AP_DDS_ENABLED
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