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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 <AP_GPS/AP_GPS.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_DDS_Client.h"
#include "generated/Time.h"
static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
static constexpr uint16_t DELAY_NAV_SAT_FIX_TOPIC_MS = 1000;
static char WGS_84_FRAME_ID[] = "WGS-84";
AP_HAL::UARTDriver *dds_port;
const AP_Param::GroupInfo AP_DDS_Client::var_info[]= {
//! @todo Params go here
AP_GROUPEND
};
#include "AP_DDS_Topic_Table.h"
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;
}
void 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;
}
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
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;
}
//! @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;
case AP_GPS::GPS_OK_FIX_2D:
case AP_GPS::GPS_OK_FIX_3D:
msg.status.status = 0; // STATUS_FIX
msg.position_covariance_type = 1; // COVARIANCE_TYPE_APPROXIMATED
break;
case AP_GPS::GPS_OK_FIX_3D_DGPS:
msg.status.status = 1; // STATUS_SBAS_FIX
msg.position_covariance_type = 1; // COVARIANCE_TYPE_APPROXIMATED
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
msg.position_covariance_type = 1; // COVARIANCE_TYPE_APPROXIMATED
// RTK provides "rtk_accuracy" member, should it be used for the covariance?
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;
}
msg.altitude = alt_cm / 100.0;
// Calculate covariance: https://answers.ros.org/question/10310/calculate-navsatfix-covariance/
// https://github.com/ros-drivers/nmea_navsat_driver/blob/indigo-devel/src/libnmea_navsat_driver/driver.py#L110-L114
//! @todo This calculation will be moved to AP::gps and fixed in #23259
//! It is a placeholder for now matching the ROS1 nmea_navsat_driver behavior
const auto hdop = gps.get_hdop(instance);
const auto hdopSq = hdop * hdop;
const auto vdop = gps.get_vdop(instance);
const auto vdopSq = vdop * vdop;
msg.position_covariance[0] = hdopSq;
msg.position_covariance[4] = hdopSq;
msg.position_covariance[8] = vdopSq;
}
/*
class constructor
*/
AP_DDS_Client::AP_DDS_Client(void)
{
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,"DDS Client: thread create failed");
}
}
/*
main loop for DDS thread
*/
void AP_DDS_Client::main_loop(void)
{
if (!init() || !create()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"DDS Client: Creation Requests failed");
return;
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"DDS Client: Initialization passed");
while (true) {
hal.scheduler->delay(1);
update();
}
}
bool AP_DDS_Client::init()
{
AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
dds_port = serial_manager->find_serial(AP_SerialManager::SerialProtocol_DDS_XRCE, 0);
if (dds_port == nullptr) {
return false;
}
// ensure we own the UART
dds_port->begin(0);
constexpr uint8_t fd = 0;
constexpr uint8_t relativeSerialAgentAddr = 0;
constexpr uint8_t relativeSerialClientAddr = 1;
if (!uxr_init_serial_transport(&serial_transport,fd,relativeSerialAgentAddr,relativeSerialClientAddr)) {
return false;
}
constexpr uint32_t uniqueClientKey = 0xAAAABBBB;
//TODO does this need to be inside the loop to handle reconnect?
uxr_init_session(&session, &serial_transport.comm, uniqueClientKey);
while (!uxr_create_session(&session)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"DDS Client: Initialization waiting...");
hal.scheduler->delay(1000);
}
reliable_in = uxr_create_input_reliable_stream(&session,input_reliable_stream,BUFFER_SIZE_SERIAL,STREAM_HISTORY);
reliable_out = uxr_create_output_reliable_stream(&session,output_reliable_stream,BUFFER_SIZE_SERIAL,STREAM_HISTORY);
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"DDS Client: Init Complete");
return true;
}
bool AP_DDS_Client::create()
{
WITH_SEMAPHORE(csem);
// Participant
const uxrObjectId participant_id = {
.id = 0x01,
.type = UXR_PARTICIPANT_ID
};
const char* participant_ref = "participant_profile";
const auto participant_req_id = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id,0,participant_ref,UXR_REPLACE);
//Participant requests
constexpr uint8_t nRequestsParticipant = 1;
const uint16_t requestsParticipant[nRequestsParticipant] = {participant_req_id};
constexpr int maxTimeMsPerRequestMs = 250;
constexpr int requestTimeoutParticipantMs = nRequestsParticipant * maxTimeMsPerRequestMs;
uint8_t statusParticipant[nRequestsParticipant];
if (!uxr_run_session_until_all_status(&session, requestTimeoutParticipantMs, requestsParticipant, statusParticipant, nRequestsParticipant)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"XRCE Client: Participant session request failure");
// TODO add a failure log message sharing the status results
return false;
}
for (size_t i = 0 ; i < ARRAY_SIZE(topics); i++) {
// Topic
const uxrObjectId topic_id = {
.id = topics[i].topic_id,
.type = UXR_TOPIC_ID
};
const char* topic_ref = topics[i].topic_profile_label;
const auto topic_req_id = uxr_buffer_create_topic_ref(&session,reliable_out,topic_id,participant_id,topic_ref,UXR_REPLACE);
// Publisher
const uxrObjectId pub_id = {
.id = topics[i].pub_id,
.type = UXR_PUBLISHER_ID
};
const char* pub_xml = "";
const auto pub_req_id = uxr_buffer_create_publisher_xml(&session,reliable_out,pub_id,participant_id,pub_xml,UXR_REPLACE);
// Data Writer
const char* data_writer_ref = topics[i].dw_profile_label;
const auto dwriter_req_id = uxr_buffer_create_datawriter_ref(&session,reliable_out,topics[i].dw_id,pub_id,data_writer_ref,UXR_REPLACE);
// Status requests
constexpr uint8_t nRequests = 3;
const uint16_t requests[nRequests] = {topic_req_id, pub_req_id, dwriter_req_id};
constexpr int requestTimeoutMs = nRequests * maxTimeMsPerRequestMs;
uint8_t status[nRequests];
if (!uxr_run_session_until_all_status(&session, requestTimeoutMs, requests, status, nRequests)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"XRCE Client: Topic/Pub/Writer session request failure for index 'TODO'");
for (int s = 0 ; s < nRequests; s++) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR,"XRCE Client: Status '%d' result '%u'", s, status[s]);
}
// TODO add a failure log message sharing the status results
return false;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"XRCE Client: Topic/Pub/Writer session pass for index 'TOOO'");
}
}
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[0].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[1].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::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();
}
if (cur_time_ms - last_nav_sat_fix_time_ms > DELAY_NAV_SAT_FIX_TOPIC_MS) {
constexpr uint8_t instance = 0;
update_topic(nav_sat_fix_topic, instance);
last_nav_sat_fix_time_ms = cur_time_ms;
write_nav_sat_fix_topic();
}
connected = uxr_run_session_time(&session, 1);
}
/*
implement C functions for serial transport
*/
extern "C" {
#include <uxr/client/profile/transport/serial/serial_transport_platform.h>
}
bool uxr_init_serial_platform(void* args, int fd, uint8_t remote_addr, uint8_t local_addr)
{
//! @todo Add error reporting
return true;
}
bool uxr_close_serial_platform(void* args)
{
//! @todo Add error reporting
return true;
}
size_t uxr_write_serial_data_platform(void* args, const uint8_t* buf, size_t len, uint8_t* errcode)
{
if (dds_port == nullptr) {
*errcode = 1;
return 0;
}
ssize_t bytes_written = dds_port->write(buf, len);
if (bytes_written <= 0) {
*errcode = 1;
return 0;
}
//! @todo Add populate the error code correctly
*errcode = 0;
return bytes_written;
}
size_t uxr_read_serial_data_platform(void* args, uint8_t* buf, size_t len, int timeout, uint8_t* errcode)
{
if (dds_port == nullptr) {
*errcode = 1;
return 0;
}
while (timeout > 0 && dds_port->available() < len) {
hal.scheduler->delay(1); // TODO select or poll this is limiting speed (1mS)
timeout--;
}
ssize_t bytes_read = dds_port->read(buf, len);
if (bytes_read <= 0) {
*errcode = 1;
return 0;
}
//! @todo Add error reporting
*errcode = 0;
return bytes_read;
}
#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
#endif // AP_DDS_ENABLED
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