Add Zenoh pico support

2026-10-27 07:33:33 +08:00 · 2023-10-18 15:30:36 -04:00
parent 5137ca1ccc
commit 019d232911
38 changed files with 3479 additions and 3 deletions
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file uorb_subscriber.hpp
+ *
+ * Defines generic, templatized uORB over Zenoh / ROS2
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#pragma once
+
+#include "zenoh_subscriber.hpp"
+#include <uORB/topics/input_rc.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/actuator_outputs.h>
+
+class uORB_Zenoh_Subscriber : public Zenoh_Subscriber
+{
+public:
+	uORB_Zenoh_Subscriber(const orb_metadata *meta, const uint32_t *ops) :
+		Zenoh_Subscriber(true),
+		_uorb_meta{meta},
+		_cdr_ops(ops)
+	{
+		int instance = 0;
+		_uorb_pub_handle = orb_advertise_multi_queue(_uorb_meta, nullptr, &instance, 1); //FIXME template magic qsize
+	};
+
+	~uORB_Zenoh_Subscriber() override = default;
+
+	// Update the uORB Subscription and broadcast a Zenoh ROS2 message
+	void data_handler(const z_sample_t *sample)
+	{
+		char data[_uorb_meta->o_size];
+
+		dds_istream_t is = {.m_buffer = (unsigned char *)(sample->payload.start), .m_size = static_cast<int>(sample->payload.len),
+				    .m_index = 4, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2
+				   };
+		dds_stream_read(&is, data, &dds_allocator, _cdr_ops);
+
+		// As long as we don't have timesynchronization between Zenoh nodes
+		// we've to manually set the timestamp
+		fix_timestamp(data);
+
+		// ORB_ID::input_rc needs additional timestamp fixup
+		if (static_cast<ORB_ID>(_uorb_meta->o_id) == ORB_ID::input_rc) {
+			memcpy(&data[8], data, sizeof(hrt_abstime));
+		}
+
+		orb_publish(_uorb_meta, _uorb_pub_handle, &data);
+	};
+
+	void fix_timestamp(char *data)
+	{
+		hrt_abstime now = hrt_absolute_time();
+		memcpy(data, &now, sizeof(hrt_abstime));
+	}
+
+	void print()
+	{
+		Zenoh_Subscriber::print("uORB", _uorb_meta->o_name);
+	}
+
+protected:
+	// Default payload-size function -- can specialize in derived class
+	size_t get_payload_size()
+	{
+		return _uorb_meta->o_size;
+	}
+
+private:
+	const orb_metadata *_uorb_meta;
+	orb_advert_t _uorb_pub_handle;
+	const uint32_t *_cdr_ops;
+};