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126 lines
3.8 KiB
C++
126 lines
3.8 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 PublicationManager.hpp
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*
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* Manages the dynamic (run-time configurable) UAVCAN publications
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*
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* @author Peter van der Perk <peter.vanderperk@nxp.com>
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* @author Jacob Crabill <jacob@flyvoly.com>
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include "Publishers/Publisher.hpp"
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#include "CanardInterface.hpp"
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/sensor_gps.h>
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#include "Actuators/EscClient.hpp"
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#include "Publishers/DS-015/Readiness.hpp"
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#include "Publishers/DS-015/Gnss.hpp"
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#include "Publishers/uORB/uorb_publisher.hpp"
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typedef struct {
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UavcanPublisher *(*create_pub)(CanardInstance &ins, UavcanParamManager &pmgr) {};
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const char *subject_name;
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const uint8_t instance;
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} UavcanDynPubBinder;
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class PublicationManager
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{
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public:
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PublicationManager(CanardInstance &ins, UavcanParamManager &pmgr) : _canard_instance(ins), _param_manager(pmgr) {}
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~PublicationManager();
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void update();
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void printInfo();
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void updateParams();
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private:
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void updateDynamicPublications();
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CanardInstance &_canard_instance;
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UavcanParamManager &_param_manager;
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List<UavcanPublisher *> _dynpublishers;
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const UavcanDynPubBinder _uavcan_pubs[5] {
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{
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[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
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{
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return new UavcanGnssPublisher(ins, pmgr, 0);
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},
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"gps",
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0
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},
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{
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[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
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{
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return new UavcanEscController(ins, pmgr);
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},
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"esc",
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0
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},
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{
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[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
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{
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return new UavcanReadinessPublisher(ins, pmgr, 0);
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},
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"readiness",
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0
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},
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{
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[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
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{
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return new uORB_over_UAVCAN_Publisher<actuator_outputs_s>(ins, pmgr, ORB_ID(actuator_outputs));
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},
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"uorb.actuator_outputs",
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0
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},
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{
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[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
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{
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return new uORB_over_UAVCAN_Publisher<sensor_gps_s>(ins, pmgr, ORB_ID(sensor_gps));
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},
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"uorb.sensor_gps",
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0
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},
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};
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};
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