mirror of https://github.com/ArduPilot/ardupilot
279 lines
10 KiB
C++
279 lines
10 KiB
C++
#pragma once
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#include "AP_DDS_config.h"
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#if AP_DDS_ENABLED
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#include "uxr/client/client.h"
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#include "ucdr/microcdr.h"
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#include "ardupilot_msgs/msg/GlobalPosition.h"
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#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 "sensor_msgs/msg/Imu.h"
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#include "sensor_msgs/msg/Joy.h"
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#include "geometry_msgs/msg/PoseStamped.h"
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#include "geometry_msgs/msg/TwistStamped.h"
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#include "geographic_msgs/msg/GeoPointStamped.h"
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#include "geographic_msgs/msg/GeoPoseStamped.h"
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#include "rosgraph_msgs/msg/Clock.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Scheduler.h>
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#include <AP_HAL/Semaphores.h>
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#include "fcntl.h"
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#include <AP_Param/AP_Param.h>
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#define DDS_MTU 512
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#define DDS_STREAM_HISTORY 8
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#define DDS_BUFFER_SIZE DDS_MTU * DDS_STREAM_HISTORY
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#if AP_DDS_UDP_ENABLED
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#include <AP_HAL/utility/Socket.h>
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#include <AP_Networking/AP_Networking_address.h>
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#endif
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extern const AP_HAL::HAL& hal;
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class AP_DDS_Client
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{
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private:
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AP_Int8 enabled;
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// Serial Allocation
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uxrSession session; //Session
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bool is_using_serial; // true when using serial transport
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// input and output stream
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uint8_t *input_reliable_stream;
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uint8_t *output_reliable_stream;
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uxrStreamId reliable_in;
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uxrStreamId reliable_out;
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// Outgoing Sensor and AHRS data
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builtin_interfaces_msg_Time time_topic;
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geographic_msgs_msg_GeoPointStamped gps_global_origin_topic;
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geographic_msgs_msg_GeoPoseStamped geo_pose_topic;
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geometry_msgs_msg_PoseStamped local_pose_topic;
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geometry_msgs_msg_TwistStamped tx_local_velocity_topic;
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sensor_msgs_msg_BatteryState battery_state_topic;
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sensor_msgs_msg_NavSatFix nav_sat_fix_topic;
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sensor_msgs_msg_Imu imu_topic;
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rosgraph_msgs_msg_Clock clock_topic;
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// incoming joystick data
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static sensor_msgs_msg_Joy rx_joy_topic;
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// incoming REP147 velocity control
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static geometry_msgs_msg_TwistStamped rx_velocity_control_topic;
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// incoming REP147 goal interface global position
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static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
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// outgoing transforms
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tf2_msgs_msg_TFMessage tx_static_transforms_topic;
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// incoming transforms
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static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic;
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HAL_Semaphore csem;
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// connection parametrics
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bool status_ok{false};
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bool connected{false};
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static void update_topic(builtin_interfaces_msg_Time& msg);
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bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED;
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static void populate_static_transforms(tf2_msgs_msg_TFMessage& msg);
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static void update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_t instance);
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static void update_topic(geometry_msgs_msg_PoseStamped& msg);
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static void update_topic(geometry_msgs_msg_TwistStamped& msg);
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static void update_topic(geographic_msgs_msg_GeoPoseStamped& msg);
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static void update_topic(sensor_msgs_msg_Imu& msg);
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static void update_topic(rosgraph_msgs_msg_Clock& msg);
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static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
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// subscription callback function
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static void on_topic_trampoline(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length, void* args);
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void on_topic(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length);
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// service replier callback function
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static void on_request_trampoline(uxrSession* session, uxrObjectId object_id, uint16_t request_id, SampleIdentity* sample_id, ucdrBuffer* ub, uint16_t length, void* args);
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void on_request(uxrSession* session, uxrObjectId object_id, uint16_t request_id, SampleIdentity* sample_id, ucdrBuffer* ub, uint16_t length);
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// delivery control parameters
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uxrDeliveryControl delivery_control {
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.max_samples = UXR_MAX_SAMPLES_UNLIMITED,
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.max_elapsed_time = 0,
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.max_bytes_per_second = 0,
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.min_pace_period = 0
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};
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// The last ms timestamp AP_DDS wrote a Time message
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uint64_t last_time_time_ms;
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// The last ms timestamp AP_DDS wrote a NavSatFix message
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uint64_t last_nav_sat_fix_time_ms;
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// The last ms timestamp AP_DDS wrote a BatteryState message
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uint64_t last_battery_state_time_ms;
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// The last ms timestamp AP_DDS wrote an IMU message
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uint64_t last_imu_time_ms;
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// The last ms timestamp AP_DDS wrote a Local Pose message
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uint64_t last_local_pose_time_ms;
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// The last ms timestamp AP_DDS wrote a Local Velocity message
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uint64_t last_local_velocity_time_ms;
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// The last ms timestamp AP_DDS wrote a GeoPose message
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uint64_t last_geo_pose_time_ms;
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// The last ms timestamp AP_DDS wrote a Clock message
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uint64_t last_clock_time_ms;
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// The last ms timestamp AP_DDS wrote a gps global origin message
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uint64_t last_gps_global_origin_time_ms;
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// functions for serial transport
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bool ddsSerialInit();
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static bool serial_transport_open(uxrCustomTransport* args);
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static bool serial_transport_close(uxrCustomTransport* transport);
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static size_t serial_transport_write(uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* error);
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static size_t serial_transport_read(uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* error);
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struct {
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AP_HAL::UARTDriver *port;
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uxrCustomTransport transport;
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} serial;
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#if AP_DDS_UDP_ENABLED
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// functions for udp transport
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bool ddsUdpInit();
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static bool udp_transport_open(uxrCustomTransport* args);
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static bool udp_transport_close(uxrCustomTransport* transport);
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static size_t udp_transport_write(uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* error);
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static size_t udp_transport_read(uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* error);
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struct {
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AP_Int32 port;
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// UDP endpoint
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AP_Networking_IPV4 ip{AP_DDS_DEFAULT_UDP_IP_ADDR};
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// UDP Allocation
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uxrCustomTransport transport;
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SocketAPM *socket;
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} udp;
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#endif
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// pointer to transport's communication structure
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uxrCommunication *comm{nullptr};
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// client key we present
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static constexpr uint32_t key = 0xAAAABBBB;
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public:
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~AP_DDS_Client();
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bool start(void);
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void main_loop(void);
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//! @brief Initialize the client's transport
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//! @return True on successful initialization, false on failure
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bool init_transport() WARN_IF_UNUSED;
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//! @brief Initialize the client's uxr session and IO stream(s)
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//! @return True on successful initialization, false on failure
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bool init_session() WARN_IF_UNUSED;
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//! @brief Set up the client's participants, data read/writes,
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// publishers, subscribers
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//! @return True on successful creation, false on failure
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bool create() WARN_IF_UNUSED;
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//! @brief Serialize the current time state and publish to the IO stream(s)
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void write_time_topic();
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//! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s)
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void write_nav_sat_fix_topic();
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//! @brief Serialize the static transforms and publish to the IO stream(s)
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void write_static_transforms();
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//! @brief Serialize the current nav_sat_fix state and publish it to the IO stream(s)
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void write_battery_state_topic();
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//! @brief Serialize the current local_pose and publish to the IO stream(s)
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void write_local_pose_topic();
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//! @brief Serialize the current local velocity and publish to the IO stream(s)
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void write_tx_local_velocity_topic();
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//! @brief Serialize the current geo_pose and publish to the IO stream(s)
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void write_geo_pose_topic();
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//! @brief Serialize the current IMU data and publish to the IO stream(s)
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void write_imu_topic();
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//! @brief Serialize the current clock and publish to the IO stream(s)
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void write_clock_topic();
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//! @brief Serialize the current gps global origin and publish to the IO stream(s)
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void write_gps_global_origin_topic();
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//! @brief Update the internally stored DDS messages with latest data
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void update();
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//! @brief GCS message prefix
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static constexpr const char* msg_prefix = "DDS:";
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//! @brief Parameter storage
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static const struct AP_Param::GroupInfo var_info[];
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//! @brief ROS_DOMAIN_ID
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AP_Int32 domain_id;
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//! @brief Enum used to mark a topic as a data reader or writer
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enum class Topic_rw : uint8_t {
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DataReader = 0,
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DataWriter = 1,
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};
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//! @brief Convenience grouping for a single "channel" of data
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struct Topic_table {
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const uint8_t topic_id;
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const uint8_t pub_id;
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const uint8_t sub_id; // added sub_id fields to avoid confusion
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const uxrObjectId dw_id;
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const uxrObjectId dr_id; // added dr_id fields to avoid confusion
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const Topic_rw topic_rw;
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const char* topic_name;
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const char* type_name;
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const uxrQoS_t qos;
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};
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static const struct Topic_table topics[];
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//! @brief Enum used to mark a service as a requester or replier
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enum class Service_rr : uint8_t {
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Requester = 0,
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Replier = 1,
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};
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//! @brief Convenience grouping for a single "channel" of services
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struct Service_table {
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//! @brief Request ID for the service
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const uint8_t req_id;
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//! @brief Reply ID for the service
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const uint8_t rep_id;
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//! @brief Service is requester or replier
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const Service_rr service_rr;
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//! @brief Service name as it appears in ROS
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const char* service_name;
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//! @brief Service requester message type
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const char* request_type;
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//! @brief Service replier message type
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const char* reply_type;
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//! @brief Service requester topic name
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const char* request_topic_name;
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//! @brief Service replier topic name
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const char* reply_topic_name;
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//! @brief QoS for the service
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const uxrQoS_t qos;
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};
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static const struct Service_table services[];
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};
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#endif // AP_DDS_ENABLED
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