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81 lines
2.8 KiB
C++
81 lines
2.8 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 Access.hpp
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*
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* Defines a Access Service invoker and process Access responses
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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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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/module.h>
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#include <version/version.h>
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#include "../NodeManager.hpp"
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#include <uavcan/_register/Access_1_0.h>
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#include "../Subscribers/BaseSubscriber.hpp"
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class UavcanAccessServiceReply : public UavcanBaseSubscriber
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{
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public:
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UavcanAccessServiceReply(CanardInstance &ins, NodeManager &nmgr) :
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UavcanBaseSubscriber(ins, "Access", 0), _nmgr(nmgr) { };
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void subscribe() override
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{
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// Subscribe to requests uavcan.pnp.NodeIDAllocationData
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canardRxSubscribe(&_canard_instance,
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CanardTransferKindResponse,
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uavcan_register_Access_1_0_FIXED_PORT_ID_,
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uavcan_register_Access_Response_1_0_EXTENT_BYTES_,
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CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
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&_subj_sub._canard_sub);
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};
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void callback(const CanardTransfer &receive) override
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{
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PX4_INFO("Access response");
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};
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private:
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NodeManager &_nmgr;
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};
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