mirror of https://github.com/ArduPilot/ardupilot
169 lines
7.7 KiB
C++
169 lines
7.7 KiB
C++
#include "builtin_interfaces/msg/Time.h"
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#include "sensor_msgs/msg/NavSatFix.h"
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#include "tf2_msgs/msg/TFMessage.h"
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#include "sensor_msgs/msg/BatteryState.h"
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#include "geographic_msgs/msg/GeoPoseStamped.h"
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#include "sensor_msgs/msg/Imu.h"
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#include "uxr/client/client.h"
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// Code generated table based on the enabled topics.
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// Mavgen is using python, loops are not readable.
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// Can use jinja to template (like Flask)
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enum class TopicIndex: uint8_t {
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TIME_PUB,
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NAV_SAT_FIX_PUB,
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STATIC_TRANSFORMS_PUB,
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BATTERY_STATE_PUB,
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IMU_PUB,
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LOCAL_POSE_PUB,
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LOCAL_VELOCITY_PUB,
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GEOPOSE_PUB,
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CLOCK_PUB,
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JOY_SUB,
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DYNAMIC_TRANSFORMS_SUB,
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VELOCITY_CONTROL_SUB,
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GLOBAL_POSITION_SUB,
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};
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static inline constexpr uint8_t to_underlying(const TopicIndex 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::Topic_table AP_DDS_Client::topics[] = {
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{
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.topic_id = to_underlying(TopicIndex::TIME_PUB),
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.pub_id = to_underlying(TopicIndex::TIME_PUB),
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.sub_id = to_underlying(TopicIndex::TIME_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "time__t",
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.dw_profile_label = "time__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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.pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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.sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "navsatfix0__t",
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.dw_profile_label = "navsatfix0__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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.pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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.sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "statictransforms__t",
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.dw_profile_label = "statictransforms__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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.pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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.sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "batterystate0__t",
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.dw_profile_label = "batterystate0__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::IMU_PUB),
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.pub_id = to_underlying(TopicIndex::IMU_PUB),
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.sub_id = to_underlying(TopicIndex::IMU_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "imu__t",
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.dw_profile_label = "imu__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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.pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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.sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "localpose__t",
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.dw_profile_label = "localpose__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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.pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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.sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "localvelocity__t",
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.dw_profile_label = "localvelocity__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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.pub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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.sub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "geopose__t",
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.dw_profile_label = "geopose__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::CLOCK_PUB),
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.pub_id = to_underlying(TopicIndex::CLOCK_PUB),
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.sub_id = to_underlying(TopicIndex::CLOCK_PUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "clock__t",
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.dw_profile_label = "clock__dw",
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.dr_profile_label = "",
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},
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{
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.topic_id = to_underlying(TopicIndex::JOY_SUB),
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.pub_id = to_underlying(TopicIndex::JOY_SUB),
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.sub_id = to_underlying(TopicIndex::JOY_SUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "joy__t",
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.dw_profile_label = "",
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.dr_profile_label = "joy__dr",
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},
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{
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.topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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.pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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.sub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "dynamictf__t",
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.dw_profile_label = "",
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.dr_profile_label = "dynamictf__dr",
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},
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{
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.topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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.pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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.sub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "velocitycontrol__t",
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.dw_profile_label = "",
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.dr_profile_label = "velocitycontrol__dr",
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},
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{
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.topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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.pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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.sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
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.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
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.topic_profile_label = "globalposcontrol__t",
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.dw_profile_label = "",
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.dr_profile_label = "globalposcontrol__dr",
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},
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};
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