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92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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#include "vehicle_command_srv.h"
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#include <uORB/ucdr/vehicle_command.h>
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#include <uORB/ucdr/vehicle_command_ack.h>
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VehicleCommandSrv::VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_out_stream_id,
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uxrStreamId input_stream_id, uxrObjectId participant_id, const char *client_namespace, const uint8_t index) :
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SrvBase(session, reliable_out_stream_id, input_stream_id, participant_id)
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{
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uint16_t queue_depth = uORB::DefaultQueueSize<vehicle_command_s>::value *
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2; // use a bit larger queue size than internal
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create_replier(input_stream_id, participant_id, index, client_namespace, "vehicle_command", "VehicleCommand",
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queue_depth);
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};
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VehicleCommandSrv::~VehicleCommandSrv()
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{
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};
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bool VehicleCommandSrv::process_request(ucdrBuffer *ub, const int64_t time_offset_us)
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{
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vehicle_command_s data;
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if (ucdr_deserialize_vehicle_command(*ub, data, time_offset_us)) {
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vehicle_command_pub_.publish(data);
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is_reply_pending_ = true;
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last_command_sent_ = data.command;
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last_command_sent_timestamp_ = hrt_absolute_time();
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}
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return 0;
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}
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bool VehicleCommandSrv::process_reply()
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{
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vehicle_command_ack_s cmd_ack;
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if (is_reply_pending_ && vehicle_command_ack_sub_.update(&cmd_ack)) {
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if (cmd_ack.command == last_command_sent_ && cmd_ack.timestamp > last_command_sent_timestamp_) {
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last_command_sent_ = 0;
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is_reply_pending_ = false;
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ucdrBuffer reply_ub;
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const uint32_t topic_size = ucdr_topic_size_vehicle_command_ack();
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uint8_t reply_buffer[topic_size] = {
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0
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};
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const int64_t time_offset_us = session_->time_offset / 1000; // ns -> us
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ucdr_init_buffer(&reply_ub, reply_buffer, sizeof(reply_buffer));
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ucdr_serialize_vehicle_command_ack(&cmd_ack, reply_ub, time_offset_us);
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uxr_buffer_reply(session_, reliable_out_stream_id_, replier_id_, &sample_id_, reply_buffer, sizeof(reply_buffer));
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}
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}
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return 0;
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}
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