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ardupilot/libraries/AP_DDS/AP_DDS_Topic_Table.h

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#include "builtin_interfaces/msg/Time.h"
#include "sensor_msgs/msg/NavSatFix.h"
#include "tf2_msgs/msg/TFMessage.h"
#include "sensor_msgs/msg/BatteryState.h"
#include "geographic_msgs/msg/GeoPoseStamped.h"
#if AP_DDS_IMU_PUB_ENABLED
#include "sensor_msgs/msg/Imu.h"
#endif //AP_DDS_IMU_PUB_ENABLED
#include "uxr/client/client.h"
// Code generated table based on the enabled topics.
// Mavgen is using python, loops are not readable.
// Can use jinja to template (like Flask)
enum class TopicIndex: uint8_t {
TIME_PUB,
NAV_SAT_FIX_PUB,
STATIC_TRANSFORMS_PUB,
BATTERY_STATE_PUB,
#if AP_DDS_IMU_PUB_ENABLED
IMU_PUB,
#endif //AP_DDS_IMU_PUB_ENABLED
LOCAL_POSE_PUB,
LOCAL_VELOCITY_PUB,
GEOPOSE_PUB,
CLOCK_PUB,
GPS_GLOBAL_ORIGIN_PUB,
JOY_SUB,
DYNAMIC_TRANSFORMS_SUB,
VELOCITY_CONTROL_SUB,
GLOBAL_POSITION_SUB,
};
static inline constexpr uint8_t to_underlying(const TopicIndex index)
{
static_assert(sizeof(index) == sizeof(uint8_t));
return static_cast<uint8_t>(index);
}
constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
{
.topic_id = to_underlying(TopicIndex::TIME_PUB),
.pub_id = to_underlying(TopicIndex::TIME_PUB),
.sub_id = to_underlying(TopicIndex::TIME_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/time",
.type_name = "builtin_interfaces::msg::dds_::Time_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 20,
},
},
{
.topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
.pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
.sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/navsat/navsat0",
.type_name = "sensor_msgs::msg::dds_::NavSatFix_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
.pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
.sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/tf_static",
.type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 1,
},
},
{
.topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
.pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
.sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/battery/battery0",
.type_name = "sensor_msgs::msg::dds_::BatteryState_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
#if AP_DDS_IMU_PUB_ENABLED
{
.topic_id = to_underlying(TopicIndex::IMU_PUB),
.pub_id = to_underlying(TopicIndex::IMU_PUB),
.sub_id = to_underlying(TopicIndex::IMU_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/imu/experimental/data",
.type_name = "sensor_msgs::msg::dds_::Imu_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
#endif //AP_DDS_IMU_PUB_ENABLED
{
.topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
.pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
.sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/pose/filtered",
.type_name = "geometry_msgs::msg::dds_::PoseStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
.pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
.sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/twist/filtered",
.type_name = "geometry_msgs::msg::dds_::TwistStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
.pub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
.sub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/geopose/filtered",
.type_name = "geographic_msgs::msg::dds_::GeoPoseStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::CLOCK_PUB),
.pub_id = to_underlying(TopicIndex::CLOCK_PUB),
.sub_id = to_underlying(TopicIndex::CLOCK_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/clock",
.type_name = "rosgraph_msgs::msg::dds_::Clock_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 20,
},
},
{
.topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
.pub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
.sub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/gps_global_origin/filtered",
.type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::JOY_SUB),
.pub_id = to_underlying(TopicIndex::JOY_SUB),
.sub_id = to_underlying(TopicIndex::JOY_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/joy",
.type_name = "sensor_msgs::msg::dds_::Joy_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
.pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
.sub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/tf",
.type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
.pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
.sub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/cmd_vel",
.type_name = "geometry_msgs::msg::dds_::TwistStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
.pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
.sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/cmd_gps_pose",
.type_name = "ardupilot_msgs::msg::dds_::GlobalPosition_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
};
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