mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 21:13:35 +08:00
Peter van der Perk
9756c70491
* Update to use libcanard callback Reworked param system with lambda * Use callback instead of lambda saves 500 bytes of flash * [UAVCANv1] Added ServiceRequest class, subscribers decoupled * PX4 UAVCANv1 portID param default CANARD_PORT_ID_UNSET (65535U) * [UAVCANv1] uORB sensor_gps modify timestamp for now untill we've got timesync working * UAVCANv1 update parameter definition to use -1 as unset
88 lines
2.7 KiB
C++
88 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file SubscriptionManager.cpp
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*
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* Manages the UAVCAN subscriptions
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*
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* @author Peter van der Perk <peter.vanderperk@nxp.com>
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*/
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#include "SubscriptionManager.hpp"
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void SubscriptionManager::subscribe()
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{
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_heartbeat_sub.subscribe();
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_getinfo_rsp.subscribe();
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_access_rsp.subscribe();
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for (auto &sub : _uavcan_subs) {
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param_t param_handle = param_find(sub.px4_name);
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if (param_handle == PARAM_INVALID) {
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PX4_ERR("Param %s not found", sub.px4_name);
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break;
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}
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if ((param_type(param_handle) == PARAM_TYPE_INT32)) {
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int32_t port_id {};
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param_get(param_handle, &port_id);
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if (port_id >= 0) { // PortID is set create a subscriber
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UavcanDynamicPortSubscriber *dynsub = sub.create_sub(_canard_instance, _param_manager);
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if (_dynsubscribers != NULL) {
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_dynsubscribers->setNext(dynsub);
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}
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_dynsubscribers = dynsub;
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dynsub->updateParam();
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}
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}
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}
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}
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void SubscriptionManager::printInfo()
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{
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}
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void SubscriptionManager::updateParams()
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{
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//TODO dynamically update params and unsubscribe
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}
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