0905ffa438
* Use clang to verify no unused files * Add a topic table to prepare for code generating interfaces * Generated IDL's to to a generated directory in build * Use black to format python files * Populate a ROS time maessage with Linux epoch time for ROS time * Add workarounds for PoseStamped and TwistStamped with manual mods to IDL Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com> Co-authored-by: Andrew Tridgell <andrew@tridgell.net> Co-authored-by: Russ Webber <russ@rw.id.au> Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
97 lines
2.3 KiB
C++
97 lines
2.3 KiB
C++
#pragma once
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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 "generated/Time.h"
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#include "AP_DDS_Generic_Fn_T.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 <AP_AHRS/AP_AHRS.h>
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#include "fcntl.h"
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#include <AP_Param/AP_Param.h>
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#define STREAM_HISTORY 8
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#define BUFFER_SIZE_SERIAL UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY
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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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// Serial Allocation
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uxrSerialTransport serial_transport; // client uxr serial transport
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uxrSession session; //Session
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// Input Stream
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uint8_t input_reliable_stream[BUFFER_SIZE_SERIAL];
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uxrStreamId reliable_in;
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// Output Stream
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uint8_t output_reliable_stream[BUFFER_SIZE_SERIAL];
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uxrStreamId reliable_out;
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// Topic
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builtin_interfaces_msg_Time time_topic;
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// Data Writer
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const uxrObjectId dwriter_id = {
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.id = 0x01,
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.type = UXR_DATAWRITER_ID
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};
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HAL_Semaphore csem;
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// connection parametrics
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bool connected = true;
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static void update_topic(builtin_interfaces_msg_Time& msg);
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public:
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// Constructor
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AP_DDS_Client();
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void main_loop(void);
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//! @brief Initialize the client's transport, uxr session, and IO stream(s)
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//! @return True on successful initialization, false on failure
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bool init() 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 data state and publish to to the IO stream(s)
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void write();
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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 Parameter storage
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static const struct AP_Param::GroupInfo var_info[];
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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 char* topic_profile_label;
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const char* dw_profile_label;
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Generic_serialize_topic_fn_t serialize;
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Generic_deserialize_topic_fn_t deserialize;
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Generic_size_of_topic_fn_t size_of;
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};
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static const struct Topic_table topics[];
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};
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#endif // AP_DDS_ENABLED
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