ardupilot/libraries/AP_DroneCAN/AP_Canard_iface.h

74 lines
2.5 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_DRONECAN_DRIVERS
#include <canard/interface.h>
#include <dronecan_msgs.h>
class AP_DroneCAN;
class CanardInterface : public Canard::Interface {
friend class AP_DroneCAN;
public:
/// @brief delete copy constructor and assignment operator
CanardInterface(const CanardInterface&) = delete;
CanardInterface& operator=(const CanardInterface&) = delete;
CanardInterface(uint8_t driver_index);
void init(void* mem_arena, size_t mem_arena_size, uint8_t node_id);
/// @brief broadcast message to all listeners on Interface
/// @param bc_transfer
/// @return true if message was added to the queue
bool broadcast(const Canard::Transfer &bcast_transfer) override;
/// @brief request message from
/// @param destination_node_id
/// @param req_transfer
/// @return true if request was added to the queue
bool request(uint8_t destination_node_id, const Canard::Transfer &req_transfer) override;
/// @brief respond to a request
/// @param destination_node_id
/// @param res_transfer
/// @return true if response was added to the queue
bool respond(uint8_t destination_node_id, const Canard::Transfer &res_transfer) override;
void processTx(bool raw_commands_only);
void processRx();
void process(uint32_t duration);
static void onTransferReception(CanardInstance* ins, CanardRxTransfer* transfer);
static bool shouldAcceptTransfer(const CanardInstance* ins,
uint64_t* out_data_type_signature,
uint16_t data_type_id,
CanardTransferType transfer_type,
uint8_t source_node_id);
bool add_interface(AP_HAL::CANIface *can_drv);
#if AP_TEST_DRONECAN_DRIVERS
static CanardInterface& get_test_iface() { return test_iface; }
static void processTestRx();
#endif
void update_rx_protocol_stats(int16_t res);
uint8_t get_node_id() const override { return canard.node_id; }
private:
CanardInstance canard;
AP_HAL::CANIface* ifaces[HAL_NUM_CAN_IFACES];
#if AP_TEST_DRONECAN_DRIVERS
static CanardInterface* canard_ifaces[3];
static CanardInterface test_iface;
#endif
uint8_t num_ifaces;
HAL_EventHandle _event_handle;
bool initialized;
HAL_Semaphore _sem_tx;
HAL_Semaphore _sem_rx;
CanardTxTransfer tx_transfer;
dronecan_protocol_Stats protocol_stats;
};
#endif // HAL_ENABLE_DRONECAN_DRIVERS