Added the notion of BaseSubscriber which allows to

subsscription for services responses and request and helps the usage of fixed
port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
to NodeManager

src/drivers/uavcan_v1/NodeManager.hpp

@@ -43,6 +43,7 @@
 
 
 #include <px4_platform_common/defines.h>
+#include <drivers/drv_hrt.h>
 
 #include "CanardInterface.hpp"
 
@@ -50,30 +51,46 @@
 #include <uavcan/pnp/NodeIDAllocationData_1_0.h>
 #include <uavcan/pnp/NodeIDAllocationData_2_0.h>
 
+
+class NodeManager;
+
+#include "Services/AccessRequest.hpp"
+#include "Services/ListRequest.hpp"
+
+//TODO make this an object instead?
 typedef struct {
-	uint8_t  node_id;
-	uint8_t  unique_id[16];
-} UavcanNodeUniqueID;
+	uint8_t   node_id;
+	uint8_t   unique_id[16];
+	bool      register_setup;
+	uint16_t  register_index;
+} UavcanNodeEntry;
 
 class NodeManager
 {
 public:
-	NodeManager(CanardInstance &ins) : _canard_instance(ins) { };
+	NodeManager(CanardInstance &ins) : _canard_instance(ins), _access_request(ins), _list_request(ins) { };
 
 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
 
 
-	/* TODO temporary store variables here to not break the existing code
-	 * Ideally we implement service/request classes as well and put the logic
-	 * to set registers in here as well */
-	uint8_t _node_register_setup = CANARD_NODE_ID_UNSET;
-	int32_t _node_register_request_index = 0;
-	int32_t _node_register_last_received_index = -1;
-	hrt_abstime _uavcan_pnp_nodeidallocation_last{0};
+	void HandleListResponse(CanardNodeID node_id, uavcan_register_List_Response_1_0 &msg);
+
+	void update();
 
 private:
 	CanardInstance &_canard_instance;
 	CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
-	UavcanNodeUniqueID nodeid_registry[16] {0}; //TODO configurable or just rewrite
+	UavcanNodeEntry nodeid_registry[16] {0}; //TODO configurable or just rewrite
+
+	UavcanAccessServiceRequest _access_request;
+	UavcanListServiceRequest _list_request;
+
+	bool nodeRegisterSetup = 0;
+
+	hrt_abstime _register_request_last{0};
+
+	//TODO work this out
+	const char *gps_uorb_register_name = "uavcan.pub.gnss_uorb.id";
+	const char *bms_status_register_name = "uavcan.pub.battery_status.id";
 };