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