mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 00:18:29 -04:00
51 lines
1.8 KiB
C++
51 lines
1.8 KiB
C++
#include "uxr/client/client.h"
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#include <AP_DDS/AP_DDS_config.h>
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enum class ServiceIndex: uint8_t {
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#if AP_DDS_ARM_SERVER_ENABLED
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ARMING_MOTORS,
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#endif // #if AP_DDS_ARM_SERVER_ENABLED
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#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
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MODE_SWITCH
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#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
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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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#if AP_DDS_ARM_SERVER_ENABLED
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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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#endif // AP_DDS_ARM_SERVER_ENABLED
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#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
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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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#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
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};
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