mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
c71ef23657
- Add topic name and type to topic table. - Use binary creation functions for participants and topics. - Add constant for domain ID. - Create publishers and datawriters by binary - Create subscribers, datareaders and services by binary - Add extra fields to the services table. - Remove dds_xrce_profile.xml - Document additional service table fields - Add QoS struct to topic and service tables - Replace profile labels with enums. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
42 lines
1.5 KiB
C++
42 lines
1.5 KiB
C++
#include "uxr/client/client.h"
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enum class ServiceIndex: uint8_t {
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ARMING_MOTORS,
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MODE_SWITCH
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};
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static inline constexpr uint8_t to_underlying(const ServiceIndex index)
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{
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static_assert(sizeof(index) == sizeof(uint8_t));
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return static_cast<uint8_t>(index);
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}
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constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
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{
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.req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
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.rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
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.service_rr = Service_rr::Replier,
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.service_name = "rs/ap/arm_motorsService",
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.request_type = "ardupilot_msgs::srv::dds_::ArmMotors_Request_",
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.reply_type = "ardupilot_msgs::srv::dds_::ArmMotors_Response_",
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.request_topic_name = "rq/ap/arm_motorsRequest",
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.reply_topic_name = "rr/ap/arm_motorsReply",
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.qos = {
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.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
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.reliability = UXR_RELIABILITY_RELIABLE,
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.history = UXR_HISTORY_KEEP_LAST,
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.depth = 5,
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},
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},
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{
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.req_id = to_underlying(ServiceIndex::MODE_SWITCH),
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.rep_id = to_underlying(ServiceIndex::MODE_SWITCH),
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.service_rr = Service_rr::Replier,
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.service_name = "rs/ap/mode_switchService",
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.request_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Request_",
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.reply_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Response_",
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.request_topic_name = "rq/ap/mode_switchRequest",
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.reply_topic_name = "rr/ap/mode_switchReply",
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},
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};
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