microdds: add xrce client

src/modules/microdds_client/microdds_client.h

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+
+#include <src/modules/micrortps_bridge/micrortps_client/dds_topics.h>
+
+extern "C" __EXPORT int microdds_client_main(int argc, char *argv[]);
+
+
+class MicroddsClient : public ModuleBase<MicroddsClient>
+{
+public:
+	enum class Transport {
+		Serial,
+		Udp
+	};
+
+	MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
+		       bool localhost_only);
+
+	~MicroddsClient();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static MicroddsClient *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:
+	int setBaudrate(int fd, unsigned baud);
+
+	const bool _localhost_only;
+
+	SendTopicsSubs *_subs{nullptr};
+	RcvTopicsPubs *_pubs{nullptr};
+
+	uxrSerialTransport *_transport_serial{nullptr};
+	uxrUDPTransport *_transport_udp{nullptr};
+	uxrCommunication *_comm{nullptr};
+	int _fd{-1};
+
+	int _last_payload_tx_rate{}; ///< in B/s
+	int _last_payload_rx_rate{}; ///< in B/s
+	bool _connected{false};
+};
+